Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleConfigurationServer S: Initializing worksiteServer uperviso: WorkSite::WorkSite -- Adding attributes r::: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv_autonomy/auv/altex/onboard/config/dorado389/workSite.cfg 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 : DynoLayeredControlServer ctor : DynoLayeredControlServer spawnAuxTasks : WorkSite::WorkSite -- Finished loading parameters : WorkSite::WorkSite -- Starting Depth is 0.000000 meters : layeredControl - instantiating DynoLayeredControl : 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 : New Navigation component constructor Supervisor::createTask() - newTailConeServer Supervisor::createTask() - m3dmgx1Server Supervisor::createTask() - gpsServer Supervisor::createTask() - parosciS: Preparing to fork erver : SerialDevice: done... : TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts : TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts : TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts : TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts : SerialDevice: done... : I'm the child...forking S: SerialDevice: done... upervi: DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() sor::createTask() - seabirdServer Superv: SerialDevice: done... isor::createTask() - seabirdServer : Navigation - Using only the Dvl to compute altitude. : ahrs if is Ahrs : SerialDevice: done... : SerialDevice: done... : Gps: initializing : SerialDevice: done... : SerialDevice: done... Supervisor::createTask() - isusServer : SerialDevice: done... S: seabirdDriver RUNNING... uper: SerialDevice: done... vis: seabirdDriver RUNNING... or::c: Crossbow.cc: In getSerialNumber() reateTask() - bluefinBattDriver : SerialDevice: done... Sup: DynoLayeredControl ctor er: DynoLayeredControl initialize visor::createTask() - hydros: BluefinBatt driver - running with 3 batteries catServ: SerialDevice: done... : Seabird/ctdDriver -- Loading CTD constants from /home/dorado1/auv_autonomy/auv/altex/onboard/config/dorado389/ctdDriver.cfg er : Seabird/ctdDriver2 -- Loading CTD constants from /home/dorado1/auv_autonomy/auv/altex/onboard/config/dorado389/ctdDriver2.cfg : BluefineBatt::init() - 3 batteries on 10 second interval : BluefinBatt.cc - Looking for Parosci server : SerialDevice: done... : BluefinBatt::init() - querying for batt ids Super: BluefinBatt::init() - battery echo is !? visor::createTask() - lisst Supervisor::createTask() - biolumeDriver Supervisor::createTask() - dvlServer Supervisor::createTask() - fanServer : IsusLog.cc -- beginning constructor... Sup: isusLog.cc -- constructor succeeded ervisor: SerialDeviceDriver::initialize() ::cre: Isus:initializing Isus with lamp on... ateTask: Crossbow.cc: device->read succeeded () : m3dmgx1: Serial Number is 3343 - dro: PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100 pWeigh: SerialDeviceDriver::initialize() tServer Supervisor: SerialDevice: done... ::createTask() - gulperServer Supe: **** EventTriggers::add() - attaching proxy r: 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 vi: 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 sor:: Seabird/ctdDriver::Seabird() - create interface to depth sensor... :: BiolumeDriver::processRecord() - parse error crea: Seabird/ctdDriver2::Seabird() - create interface to depth sensor... teTask(: Seabird/ctdDriver -- constructing Log... ) -: **** EventTriggers::add() - attaching proxy clust: Seabird/ctdDriver2 -- constructing Log... erServer : BiolumeDriver::processRecord() - parse error Supervisor::createTask() - statePublisher : CTDLog.cc -- beginning constructor... : CTDLog.cc -- beginning constructor... : SerialDevice: done... : CTDLog.cc -- constructor succeeded : CTDLog.cc -- constructor succeeded : Seabird/ctdDriver -- constructor succeeded : Seabird/ctdDriver2 -- constructor succeeded : seabirdDriver -- constructor succeeded : seabirdDriver -- constructor succeeded : Seabird/ctdDriver:initializing Seabird... : Seabird/ctdDriver2:initializing Seabird... : PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 : DropWeight::initialize - Resetting counters. : **** EventTriggers::add() - attaching proxy : SerialDevice: done... : 3 Modules found : SerialDevice: done... : Gps: done initializing... : **** EventTriggers::add() - attaching proxy : AshtechGps::processRecord() - 73,M,-32.59,M,,*76 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: M : **** EventTriggers::add() - attaching proxy : gulperLog:: Before navigation IF. : gulperLog:: Constructor completed. : SerialDeviceDriver::initialize() : PeriodicTask::run() (fanDriver) - sampleInterval=1000, maxInterval=1000 : PeriodicTask::run() (gulperDriver) - sampleInterval=1000, maxInterval=1000 : SerialDeviceDriver::initialize() : Starting DVL Initialization. : SerialDevice: done... : 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... : AshtechGps::processRecord() - $GPGGA,191652.00,3651.24176,N,12152.91753,W,1,09,1.1,-2.70,M,-32.59,M,,*7C : 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. : AshtechGps::processRecord() - $GPGGA,191653.00,3651.24196,N,12152.91736,W,1,09,1.1,-2.07,M,-32.59,M,,*70 : 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 : AshtechGps::processRecord() - $GPGGA,191654.00,3651.24188,N,12152.91712,W,1,09,1.1,-2.06,M,-32.59,M,,*7F : Isus:time set with val 1210619811 -> Mon May 12 19:16:54 2008 : Lisst::flushReadRecord() - record so far:  : Isus:comms initialized, warmup countdown begun... : Isus:starting Isus... : Hydroscat:non-fatal response to OPEN, continuing... : SerialDevice::confirm() - Timed Out : Seabird/ctdDriver::initialize() - confirm() timed out; sleep a bit : SerialDevice::confirm() - Timed Out : Seabird/ctdDriver2::initialize() - confirm() timed out; sleep a bit : BluefinBatt::init() - battery ids are aa b6 c0 : BluefinBatt::init() - found battery aa : BluefinBatt::init() - found battery b6 : BluefinBatt::init() - found battery c0 : Isus:started : BluefinBatt::init() - battery echo is #aawf : Lisst:starting Lisst... : AshtechGps::processRecord() - $GPGGA,191655.00,3651.24211,N,12152.91688,W,1,09,1.1,-2.32,M,-32.59,M,,*78 : 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... : PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200 : AshtechGps::processRecord() - $GPGGA,191656.00,3651.24216,N,12152.91688,W,1,09,1.1,-2.30,M,-32.59,M,,*7E : Lisst::flushReadRecord() - record so far: : Lisst:started : 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 : **** EventTriggers::add() - attaching proxy : AshtechGps::processRecord() - $GPGGA,191657.00,3651.24227,N,12152.91686,W,1,09,1.1,-2.50,M,-32.59,M,,*75 : Lisst processRecord(): record too short(242) : **** EventTriggers::add() - attaching proxy : Parosci.cc -- Initial pressure = 1.067998 : Parosci.cc -- Parosci initial pressure period = 30.068250 : Parosci.cc -- Parosci initial temp period = 5.797428 : AshtechGps::processRecord() - $GPGGA,191658.00,3651.24232,N,12152.91666,W,1,09,1.1,-2.09,M,-32.59,M,,*7C : Parosci.cc -- Paroscientific configured. : **** EventTriggers::add() - attaching proxy : AshtechGps::processRecord() - $GPGGA,191659.00,3651.24235,N,12152.91627,W,1,09,1.1,-2.14,M,-32.59,M,,*73 : BluefinBatt::init() - battery watchdog state is $aawf 1 : BluefinBatt::init() - battery echo is #b6wf : Seabird/ctdDriver: sending configure commands...(31104) : Seabird/ctdDriver2: sending configure commands...(31109) : AshtechGps::processRecord() - $GPGGA,191700.00,3651.24247,N,12152.91622,W,1,09,1.1,-2.82,M,-32.59,M,,*71 : Seabird/ctdDriver: setting scans... : Seabird/ctdDriver2: setting scans... : AshtechGps::processRecord() - $GPGGA,191701.00,3651.24266,N,12152.91649,W,1,09,1.1,-2.85,M,-32.59,M,,*79 : StatePublisher: Unable to initialize battery interface : AshtechGps::processRecord() - $GPGGA,191702.00,3651.24272,N,12152.91678,W,1,09,1.1,-2.54,M,-32.59,M,,*71 : AshtechGps::processRecord() - $GPGGA,191703.00,3651.24304,N,12152.91644,W,1,09,1.1,-2.59,M,-32.59,M,,*72 : Lbl NavSensor - could not create LBL task interface : Navigation: Server for aux sensor "Lbl" not found : AshtechGps::processRecord() - $GPGGA,191704.00,3651.24296,N,12152.91573,W,1,09,1.1,-1.40,M,-32.59,M,,*73 : BluefinBatt::init() - battery watchdog state is $b6wf 1 : BluefinBatt::init() - battery echo is #c0wf : SerialDevice::confirm() - Timed Out : SerialDevice::confirm() - Timed Out : AshtechGps::processRecord() - $GPGGA,191705.00,3651.24318,N,12152.91523,W,1,09,1.1,-1.94,M,-32.59,M,,*79 : AshtechGps::processRecord() - $GPGGA,191706.00,3651.24319,N,12152.91542,W,1,09,1.1,-2.69,M,-32.59,M,,*7D : AshtechGps::processRecord() - $GPGGA,191707.00,3651.24326,N,12152.91554,W,1,09,1.1,-2.40,M,-32.59,M,,*7C : AshtechGps::processRecord() - $GPGGA,191708.00,3651.24332,N,12152.91536,W,1,09,1.1,-2.13,M,-32.59,M,,*74 : SerialDevice::confirm() - Timed Out : Seabird/ctdDriver: setting pump freq... : SerialDevice::confirm() - Timed Out : Seabird/ctdDriver2: setting pump freq... : AshtechGps::processRecord() - $GPGGA,191709.00,3651.24344,N,12152.91529,W,1,09,1.1,-2.13,M,-32.59,M,,*7A : Seabird/ctdDriver: setting upcast... : Seabird/ctdDriver2: setting upcast... : Seabird/ctdDriver: setting battery type... : Seabird/ctdDriver2: setting battery type... : BluefinBatt::init() - battery watchdog state is $c0wf 1 : PeriodicTask::run() (BluefinBatt) - sampleInterval=10000, maxInterval=10000 : AshtechGps::processRecord() - $GPGGA,191710.00,3651.24357,N,12152.91522,W,1,09,1.1,-2.23,M,-32.59,M,,*78 : Seabird/ctdDriver: setting external voltages to 6...(31104) : Seabird/ctdDriver2: setting external voltages to 6...(31109) : Seabird/ctdDriver::initialize() - confirming voltage... : Seabird/ctdDriver2::initialize() - confirming voltage... : Seabird/ctdDriver::initialize() - confirming voltage... : Seabird/ctdDriver2::initialize() - confirming voltage... : AshtechGps::processRecord() - $GPGGA,191711.00,3651.24372,N,12152.91512,W,1,09,1.1,-2.25,M,-32.59,M,,*7B : Seabird/ctdDriver::initialize() - confirming voltage... : Seabird/ctdDriver2::initialize() - confirming voltage... : Seabird/ctdDriver::initialize() - confirming voltage... : Seabird/ctdDriver2::initialize() - confirming voltage... : StatePublisher: Unable to initialize ctd interface : PeriodicTask::run() (statePublisher) - sampleInterval=1000, maxInterval=1000 : Seabird/ctdDriver::initialize() - confirming voltage... : AshtechGps::processRecord() - $GPGGA,191712.00,3651.24377,N,12152.91522,W,1,09,1.1,-2.39,M,-32.59,M,,*73 : Seabird/ctdDriver2::initialize() - confirming voltage... : Seabird/ctdDriver::initialize() - confirming voltage... : Seabird/ctdDriver2::initialize() - confirming voltage... : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191713.00,3651.24387,N,12152.91527,W,1,09,1.1,-1.78,M,-32.59,M,,*7E : Navigation: Server for aux sensor "Altimeter" not found : Navigation: Server for aux sensor "Velocimeter" not found : Seabird/ctdDriver2::initialize() - disabling switch... : Seabird/ctdDriver::initialize() - disabling switch... : Seabird/ctdDriver2: sending DS command... : Seabird/ctdDriver: sending DS command... : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191714.00,3651.24400,N,12152.91482,W,1,09,1.1,-1.12,M,-32.59,M,,*73 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191715.00,3651.24409,N,12152.91441,W,1,09,1.1,-1.38,M,-32.59,M,,*7C : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191716.00,3651.24431,N,12152.91436,W,1,09,1.1,-1.98,M,-32.59,M,,*7E : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191717.00,3651.24442,N,12152.91435,W,1,09,1.1,-2.13,M,-32.59,M,,*78 : Seabird/ctdDriver2::initialize() - starting logging... : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Seabird/ctdDriver::initialize() - starting logging... : AshtechGps::processRecord() - $GPGGA,191718.00,3651.24446,N,12152.91440,W,1,09,1.1,-2.36,M,-32.59,M,,*76 : 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 : AshtechGps::processRecord() - $GPGGA,191719.00,3651.24454,N,12152.91451,W,1,09,1.1,-2.23,M,-32.59,M,,*70 : Ctd/ctdDriver:initialize() - Logging Started... : Ctd/ctdDriver:initialize() - ready! : **** EventTriggers::add() - attaching proxy : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191720.00,3651.24467,N,12152.91452,W,1,09,1.1,-2.11,M,-32.59,M,,*78 : BluefinBatt Reply: $aaq0 d- 32.21 0.66 13.18 4.03 4.05 0 24739.13 04:47:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191721.00,3651.24480,N,12152.91446,W,1,09,1.1,-1.78,M,-32.59,M,,*79 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191722.00,3651.24477,N,12152.91441,W,1,09,1.1,-2.07,M,-32.59,M,,*7E : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191723.00,3651.24491,N,12152.91446,W,1,09,1.1,-1.79,M,-32.59,M,,*7A : BluefinBatt Reply: $b6q0 d- 32.28 0.68 12.59 3.94 4.06 0 9897.11 04:47:58 m : 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 : 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 = 0.000000) Behavior missionTimer:-1 has changed to state Active : LayeredControl - missionTimer BehaviorStarted:-1 msg to VcsServer : **** EventTriggers::add() - attaching proxy : *** Mission started *** : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191724.00,3651.24504,N,12152.91419,W,1,09,1.1,-1.33,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,191725.00,3651.24522,N,12152.91367,W,1,09,1.1,-1.08,M,-32.59,M,,*77 : BluefinBatt Reply: $c0q0 d- 32.41 0.96 13.86 4.02 4.05 0 15940.38 04:48:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191726.00,3651.24530,N,12152.91363,W,1,09,1.1,-2.12,M,-32.59,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : 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... : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191727.00,3651.24535,N,12152.91378,W,1,09,1.1,-2.20,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,191728.00,3651.24562,N,12152.91364,W,1,09,1.1,-1.77,M,-32.59,M,,*75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191729.00,3651.24585,N,12152.91343,W,1,09,1.1,-2.40,M,-32.59,M,,*7F : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : Isus:20 seconds of warmup remaining... : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191730.00,3651.24592,N,12152.91349,W,1,09,1.1,-2.82,M,-32.59,M,,*75 : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 32.21 0.70 13.18 4.03 4.05 0 24739.04 04:48:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191731.00,3651.24597,N,12152.91376,W,1,09,1.1,-2.68,M,-32.59,M,,*79 : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion setpoint after pos 2 : DynoLayeredControl::insert - stack now contains 4 behaviors : LayeredControl::execute() -- (t = 7.949455) Behavior setpoint:4599 has changed to state Active : LayeredControl - setpoint BehaviorStarted:4599 msg to VcsServer : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.30 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191732.00,3651.24604,N,12152.91378,W,1,09,1.1,-1.89,M,-32.59,M,,*71 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191733.00,3651.24609,N,12152.91328,W,1,09,1.1,-1.34,M,-32.59,M,,*7E : BluefinBatt Reply: $b6q0 d- 32.28 0.72 12.59 3.94 4.06 0 9897.02 04:48:08 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.30 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191734.00,3651.24609,N,12152.91267,W,1,09,1.1,-2.15,M,-32.59,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.30 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191735.00,3651.24617,N,12152.91282,W,1,09,1.1,-2.89,M,-32.59,M,,*73 : BluefinBatt Reply: $c0q0 d- 32.37 1.97 13.86 4.02 4.05 0 15940.29 04:48:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191736.00,3651.24631,N,12152.91332,W,1,09,1.1,-2.62,M,-32.59,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.30 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.996667 : LayeredControl::execute() -- (t = 12.999110) Behavior setpoint:4599 has changed to state Finished : LayeredControl - sending BehaviorFinished:4599 msg to VcsServer : *** Stack empty after processing. Waiting on VCS... : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191737.00,3651.24649,N,12152.91322,W,1,09,1.1,-1.26,M,-32.59,M,,*77 : 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 descend after pos 2 : DynoLayeredControl::insert - stack now contains 5 behaviors : LayeredControl::execute() -- (t = 14.149031) Behavior descend:4558 has changed to state Active : LayeredControl - descend BehaviorStarted:4558 msg to VcsServer : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191738.00,3651.24644,N,12152.91264,W,1,09,1.1,-0.64,M,-32.59,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.30 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191739.00,3651.24648,N,12152.91238,W,1,09,1.1,-1.44,M,-32.59,M,,*76 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191740.00,3651.24640,N,12152.91251,W,1,09,1.1,-2.25,M,-32.59,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.30 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 32.10 3.19 13.28 4.03 4.05 0 24738.92 04:48:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191741.00,3651.24653,N,12152.91314,W,1,09,1.1,-2.75,M,-32.59,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.30 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191742.00,3651.24645,N,12152.91362,W,1,09,1.1,-2.27,M,-32.59,M,,*7F : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191743.00,3651.24654,N,12152.91389,W,1,09,1.1,-1.84,M,-32.59,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.30 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.16 2.64 12.59 3.94 4.06 0 9896.86 04:48:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191744.00,3651.24651,N,12152.91402,W,1,09,1.1,-2.05,M,-32.59,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.30 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191745.00,3651.24650,N,12152.91432,W,1,09,1.1,-2.45,M,-32.59,M,,*7A : BluefinBatt Reply: $c0q0 d- 32.26 3.55 13.76 4.01 4.04 0 15939.95 04:48:20 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.30 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191746.00,3651.24657,N,12152.91472,W,1,09,1.1,-2.54,M,-32.59,M,,*7A : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.993334 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191747.00,3651.24753,N,12152.91326,W,1,09,1.1,-6.33,M,-32.59,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.30 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191748.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.30 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191749.00,,,,,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,191750.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.30 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 32.10 3.37 13.28 4.01 4.03 0 24738.61 04:48:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191751.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.30 speedMode=1 speed=1.50 : **** EventTriggers::add() - attaching proxy : Isus::Buffer full! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191752.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.30 speedMode=1 speed=1.50 : Isus::select() timeout : **** EventTriggers::add() - attaching proxy : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191753.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.08 3.00 12.69 3.93 4.05 0 9896.56 04:48:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191754.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.30 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191755.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.26 4.16 13.76 4.01 4.04 0 15939.72 04:48:30 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.30 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191756.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.983334 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191757.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.30 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191758.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.30 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191759.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.30 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191800.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.06 3.97 13.18 4.01 4.03 0 24738.33 04:48:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191801.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.30 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191802.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.30 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191803.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.08 2.89 12.59 3.93 4.05 0 9896.36 04:48:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191804.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.30 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191805.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.26 3.66 13.86 4.00 4.03 0 15939.29 04:48:40 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.30 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191806.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.980000 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.30 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191807.00,,,,,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,191808.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.30 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191809.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.30 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191810.00,,,,,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: $aaq0 d- 32.06 3.89 13.28 4.01 4.03 0 24737.94 04:48:45 m : AshtechGps::processRecord() - $GPGGA,191811.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus: processRecord() - bad nitrate data: +1 +0 Entering Scan Loop, press S to break. : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.30 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191812.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.30 speedMode=1 speed=1.50 : Seabird/ctdDriver2: error reading voltages : Seabird/ctdDriver2: error reading voltages : **** EventTriggers::add() - attaching proxy : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191813.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.12 2.71 12.69 3.92 4.04 0 9896.05 04:48:48 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.30 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191814.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191815.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.30 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.26 3.98 13.86 4.00 4.03 0 15939.01 04:48:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191816.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.976667 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.30 speedMode=1 speed=1.50 : Descend::execute() - Descend terminating on depth 10.360009 > 10.000000 at time 53.196356 : LayeredControl::execute() -- (t = 53.196356) Behavior descend:4558 has changed to state Finished : LayeredControl - sending BehaviorFinished:4558 msg to VcsServer : *** Stack empty after processing. Waiting on VCS... : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191817.00,,,,,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,191818.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : 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 6 behaviors : Waypoint Initialization: Begin waypoint control at t= 55.15 (wplog) The current location (N,E) = 4079266.2 , 599650.6 (wplog) The next waypoint = 4078781.0 , 598567.0 (wplog) The bearing to the next w.p. is 245.9 Degrees. : LayeredControl::execute() -- (t = 55.146222) Behavior waypoint_yoyo:6622 has changed to state Active : LayeredControl - waypoint_yoyo BehaviorStarted:6622 msg to VcsServer : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191819.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191820.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 32.06 3.63 13.37 4.01 4.03 0 24737.66 04:48:55 m : AshtechGps::processRecord() - $GPGGA,191821.00,,,,,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,191822.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191823.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.12 3.55 12.59 3.92 4.04 0 9895.85 04:48:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191824.00,,,,,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,191825.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.26 3.62 13.86 4.00 4.03 0 15938.58 04:49:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191826.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.976667 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191827.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191828.00,,,,,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,191829.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191830.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 32.06 3.33 13.28 4.01 4.03 0 24737.30 04:49:05 m : AshtechGps::processRecord() - $GPGGA,191831.00,,,,,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,191832.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191833.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.08 2.86 12.69 3.92 4.04 0 9895.54 04:49:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191834.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191835.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.30 3.48 13.86 4.00 4.03 0 15938.31 04:49:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191836.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.976667 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191837.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191838.00,,,,,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,191839.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191840.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 32.10 3.33 13.37 4.01 4.03 0 24737.05 04:49:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191841.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191842.00,,,,,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,191843.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.08 2.78 12.69 3.92 4.04 0 9895.34 04:49:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191844.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191845.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.26 3.62 13.86 4.00 4.03 0 15937.86 04:49:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191846.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.976667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191847.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191848.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191849.00,,,,,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,191850.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 32.06 3.37 13.28 4.01 4.03 0 24736.69 04:49:25 m : AshtechGps::processRecord() - $GPGGA,191851.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191852.00,,,,,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,191853.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.12 2.53 12.69 3.92 4.04 0 9895.06 04:49:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191854.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191855.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.22 3.70 13.86 4.00 4.03 0 15937.60 04:49:30 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191856.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.976667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191857.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191858.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191859.00,,,,,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,191900.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 32.10 3.19 13.28 4.01 4.03 0 24736.47 04:49:35 m : AshtechGps::processRecord() - $GPGGA,191901.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191902.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191903.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.08 2.71 12.69 3.92 4.04 0 9894.88 04:49:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191904.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191905.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.26 3.30 13.96 4.00 4.03 0 15937.22 04:49:40 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191906.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.976667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191907.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191908.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191909.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191910.00,,,,,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: $aaq0 d- 32.10 3.26 13.37 4.01 4.03 0 24736.08 04:49:45 m : AshtechGps::processRecord() - $GPGGA,191911.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191912.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191913.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.08 2.75 12.69 3.92 4.04 0 9894.59 04:49:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191914.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191915.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.26 3.26 13.86 4.00 4.03 0 15936.96 04:49:50 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191916.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.976667 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191917.00,,,,,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,191918.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191919.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191920.00,,,,,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: $aaq0 d- 32.06 3.44 13.37 4.01 4.03 0 24735.85 04:49:55 m : AshtechGps::processRecord() - $GPGGA,191921.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191922.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191923.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.08 2.78 12.69 3.92 4.04 0 9894.40 04:49:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191924.00,,,,,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,191925.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.26 3.41 13.86 4.00 4.03 0 15936.56 04:50:00 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191926.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.976667 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191927.00,,,,,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,191928.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191929.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191930.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 32.06 3.41 13.37 4.01 4.03 0 24735.49 04:50:05 m : AshtechGps::processRecord() - $GPGGA,191931.00,,,,,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,191932.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191933.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.08 2.50 12.69 3.92 4.04 0 9894.10 04:50:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191934.00,,,,,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,191935.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.26 3.30 13.86 4.00 4.03 0 15936.31 04:50:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191936.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.976667 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191937.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191938.00,,,,,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,191939.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191940.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 32.06 3.37 13.37 4.01 4.03 0 24735.26 04:50:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191941.00,,,,,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,191942.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191943.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.08 2.71 12.69 3.92 4.04 0 9893.92 04:50:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191944.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191945.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.26 4.16 13.86 4.00 4.03 0 15935.94 04:50:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191946.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.976667 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191947.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191948.00,,,,,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,191949.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191950.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 32.06 3.15 13.28 4.01 4.03 0 24734.92 04:50:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191951.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191952.00,,,,,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,191953.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.08 2.57 12.69 3.92 4.04 0 9893.62 04:50:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191954.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191955.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.22 3.26 13.86 4.00 4.03 0 15935.69 04:50:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191956.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.976667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191957.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191958.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191959.00,,,,,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,192000.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 32.06 3.26 13.37 4.01 4.03 0 24734.69 04:50:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192001.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192002.00,,,,,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,192003.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.08 2.53 12.69 3.92 4.04 0 9893.43 04:50:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192004.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192005.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.22 3.26 13.86 4.00 4.03 0 15935.31 04:50:40 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192006.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.976667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192007.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192008.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192009.00,,,,,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,192010.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 32.06 3.41 13.28 4.01 4.03 0 24734.35 04:50:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192011.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192012.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192013.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.08 2.64 12.69 3.92 4.04 0 9893.15 04:50:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192014.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192015.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.18 4.16 13.86 4.00 4.03 0 15935.06 04:50:50 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192016.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.976667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192017.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192018.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192019.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192020.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.06 3.22 13.28 4.01 4.03 0 24734.11 04:50:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192021.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192022.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192023.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.08 2.42 12.69 3.92 4.04 0 9892.95 04:50:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192024.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192025.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.22 3.30 13.86 4.00 4.03 0 15934.61 04:51:00 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192026.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.976667 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192027.00,,,,,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,192028.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192029.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192030.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.06 3.26 13.37 4.01 4.03 0 24733.77 04:51:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192031.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192032.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192033.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.05 2.82 12.69 3.92 4.04 0 9892.67 04:51:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192034.00,,,,,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,192035.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.22 3.23 13.86 4.00 4.03 0 15934.35 04:51:10 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192036.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.976667 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192037.00,,,,,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,192038.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192039.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192040.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 32.10 3.30 13.37 4.01 4.03 0 24733.48 04:51:15 m : AshtechGps::processRecord() - $GPGGA,192041.00,,,,,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,192042.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192043.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.08 2.67 12.69 3.92 4.04 0 9892.49 04:51:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192044.00,,,,,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,192045.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.22 3.44 13.86 4.00 4.03 0 15933.95 04:51:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192046.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.976667 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192047.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192048.00,,,,,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,192049.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192050.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.98 3.75 13.28 4.01 4.03 0 24733.13 04:51:25 m : AshtechGps::processRecord() - $GPGGA,192051.00,,,,,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,192052.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192053.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.08 2.53 12.79 3.92 4.04 0 9892.21 04:51:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192054.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192055.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.22 3.23 13.86 4.00 4.03 0 15933.70 04:51:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192056.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.976667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192057.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192058.00,,,,,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,192059.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192100.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 32.06 3.30 13.28 4.01 4.03 0 24732.90 04:51:35 m : AshtechGps::processRecord() - $GPGGA,192101.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192102.00,,,,,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,192103.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.05 2.71 12.69 3.92 4.04 0 9892.02 04:51:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192104.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192105.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.22 3.26 13.86 4.00 4.03 0 15933.33 04:51:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192106.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.976667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192107.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192108.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192109.00,,,,,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,192110.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 32.06 3.26 13.37 4.01 4.03 0 24732.56 04:51:45 m : AshtechGps::processRecord() - $GPGGA,192111.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192112.00,,,,,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,192113.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.08 2.42 12.79 3.92 4.04 0 9891.74 04:51:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192114.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192115.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.22 3.26 13.96 4.00 4.03 0 15933.08 04:51:50 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192116.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.976667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192117.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192118.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192119.00,,,,,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,192120.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.98 4.67 13.28 4.01 4.03 0 24732.33 04:51:55 m : AshtechGps::processRecord() - $GPGGA,192121.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192122.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192123.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.08 2.53 12.69 3.92 4.04 0 9891.54 04:51:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192124.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192125.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.22 4.09 13.86 4.00 4.03 0 15932.70 04:52:00 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192126.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.976667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192127.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192128.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192129.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192130.00,,,,,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: $aaq0 d- 32.02 3.19 13.28 4.01 4.02 0 24731.99 04:52:05 m : AshtechGps::processRecord() - $GPGGA,192131.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192132.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192133.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.05 2.50 12.79 3.92 4.04 0 9891.25 04:52:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192134.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192135.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.22 3.26 13.86 4.00 4.03 0 15932.44 04:52:10 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192136.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.976667 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192137.00,,,,,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,192138.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192139.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192140.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.02 3.30 13.37 4.01 4.02 0 24731.76 04:52:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192141.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192142.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192143.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.08 2.64 12.69 3.92 4.04 0 9891.07 04:52:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192144.00,,,,,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,192145.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.22 3.19 13.86 4.00 4.03 0 15932.07 04:52:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192146.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.976667 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192147.00,,,,,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,192148.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192149.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192150.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 32.02 3.41 13.37 4.01 4.03 0 24731.42 04:52:25 m : AshtechGps::processRecord() - $GPGGA,192151.00,,,,,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,192152.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192153.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.08 2.78 12.69 3.92 4.03 0 9890.78 04:52:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192154.00,,,,,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,192155.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.22 3.23 13.96 4.00 4.03 0 15931.79 04:52:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192156.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.976667 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192157.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192158.00,,,,,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,192159.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192200.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 32.02 3.41 13.28 4.01 4.03 0 24731.18 04:52:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192201.00,,,,,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,192202.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192203.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.08 2.60 12.69 3.92 4.03 0 9890.60 04:52:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192204.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192205.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.22 3.34 13.86 4.00 4.03 0 15931.40 04:52:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192206.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.976667 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192207.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192208.00,,,,,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,192209.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192210.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 32.02 3.33 13.37 4.01 4.02 0 24730.81 04:52:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192211.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192212.00,,,,,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,192213.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.05 2.78 12.69 3.91 4.03 0 9890.31 04:52:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192214.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192215.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.18 4.20 13.96 4.00 4.03 0 15931.13 04:52:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192216.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.973333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192217.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192218.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192219.00,,,,,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,192220.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 32.02 3.44 13.37 4.01 4.02 0 24730.57 04:52:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192221.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192222.00,,,,,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,192223.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.08 2.53 12.69 3.91 4.03 0 9890.12 04:52:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192224.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192225.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.22 3.26 13.86 4.00 4.03 0 15930.75 04:53:00 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192226.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.973333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192227.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192228.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192229.00,,,,,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,192230.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 32.06 3.22 13.37 4.01 4.03 0 24730.21 04:53:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192231.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192232.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192233.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.05 2.96 12.69 3.92 4.03 0 9889.82 04:53:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192234.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192235.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.22 3.52 13.96 4.00 4.03 0 15930.48 04:53:10 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192236.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.976667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192237.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192238.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192239.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192240.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.98 3.33 13.37 4.01 4.03 0 24729.95 04:53:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192241.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192242.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192243.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.05 2.53 12.69 3.92 4.03 0 9889.63 04:53:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192244.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192245.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.22 3.23 13.96 4.00 4.03 0 15930.08 04:53:20 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192246.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.976667 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192247.00,,,,,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,192248.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192249.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192250.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.98 3.19 13.28 4.01 4.02 0 24729.61 04:53:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192251.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192252.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192253.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.05 2.71 12.69 3.92 4.03 0 9889.33 04:53:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192254.00,,,,,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,192255.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.22 3.19 13.96 4.00 4.03 0 15929.82 04:53:30 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192256.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.976667 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192257.00,,,,,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,192258.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192259.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192300.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 32.02 3.22 13.37 4.01 4.02 0 24729.37 04:53:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192301.00,,,,,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,192302.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192303.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.05 2.67 12.79 3.92 4.03 0 9889.14 04:53:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192304.00,,,,,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,192305.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.18 3.48 13.86 4.00 4.03 0 15929.44 04:53:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192306.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.976667 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192307.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192308.00,,,,,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,192309.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192310.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.98 3.26 13.37 4.01 4.02 0 24729.04 04:53:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192311.00,,,,,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,192312.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192313.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.05 2.60 12.69 3.91 4.03 0 9888.85 04:53:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192314.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192315.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.22 3.44 13.96 4.00 4.03 0 15929.18 04:53:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192316.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.973333 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192317.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192318.00,,,,,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,192319.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192320.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.98 3.19 13.37 4.01 4.02 0 24728.82 04:53:55 m : AshtechGps::processRecord() - $GPGGA,192321.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192322.00,,,,,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,192323.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.05 2.50 12.69 3.91 4.03 0 9888.66 04:53:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192324.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192325.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.22 3.19 13.86 4.00 4.03 0 15928.79 04:54:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192326.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.973333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192327.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192328.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192329.00,,,,,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,192330.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 32.02 4.15 13.37 4.01 4.02 0 24728.48 04:54:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192331.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192332.00,,,,,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,192333.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.05 2.75 12.79 3.91 4.03 0 9888.38 04:54:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192334.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192335.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.15 3.91 13.96 4.00 4.03 0 15928.54 04:54:10 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192336.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.973333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192337.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192338.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192339.00,,,,,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,192340.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 32.02 3.41 13.37 4.01 4.02 0 24728.25 04:54:15 m : AshtechGps::processRecord() - $GPGGA,192341.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192342.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192343.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.05 2.53 12.69 3.91 4.03 0 9888.19 04:54:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192344.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192345.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.18 3.19 13.96 4.00 4.03 0 15928.15 04:54:20 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192346.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.973333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192347.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192348.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192349.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192350.00,,,,,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: $aaq0 d- 31.98 4.12 13.37 4.00 4.02 0 24727.89 04:54:25 m : AshtechGps::processRecord() - $GPGGA,192351.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192352.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192353.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.01 3.58 12.79 3.91 4.03 0 9887.91 04:54:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192354.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192355.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.18 3.55 13.96 4.00 4.03 0 15927.88 04:54:30 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192356.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.970000 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192357.00,,,,,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,192358.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192359.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192400.00,,,,,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: $aaq0 d- 32.02 3.11 13.37 4.00 4.02 0 24727.63 04:54:35 m : AshtechGps::processRecord() - $GPGGA,192401.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192402.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192403.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.05 2.75 12.69 3.91 4.03 0 9887.71 04:54:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192404.00,,,,,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,192405.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.18 3.23 13.96 3.99 4.03 0 15927.48 04:54:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192406.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192407.00,,,,,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,192408.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192409.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192410.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 32.02 3.37 13.28 4.00 4.02 0 24727.27 04:54:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192411.00,,,,,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,192412.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192413.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.05 2.71 12.79 3.91 4.03 0 9887.42 04:54:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192414.00,,,,,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,192415.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.22 3.34 13.86 3.99 4.03 0 15927.23 04:54:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192416.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192417.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192418.00,,,,,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,192419.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192420.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.98 4.12 13.28 4.00 4.02 0 24727.01 04:54:55 m : AshtechGps::processRecord() - $GPGGA,192421.00,,,,,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,192422.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192423.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.01 2.67 12.69 3.91 4.03 0 9887.22 04:54:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192424.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192425.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.22 3.37 13.96 3.99 4.02 0 15926.84 04:55:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192426.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192427.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192428.00,,,,,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,192429.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192430.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.98 3.41 13.37 4.00 4.02 0 24726.64 04:55:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192431.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192432.00,,,,,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,192433.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.05 2.42 12.69 3.91 4.03 0 9886.93 04:55:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192434.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192435.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.22 3.26 13.86 3.99 4.02 0 15926.59 04:55:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192436.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192437.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192438.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192439.00,,,,,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,192440.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 32.02 3.52 13.28 4.00 4.02 0 24726.41 04:55:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192441.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192442.00,,,,,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,192443.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.01 3.04 12.79 3.91 4.03 0 9886.74 04:55:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192444.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192445.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.18 3.19 13.86 4.00 4.03 0 15926.21 04:55:20 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192446.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.970000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192447.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192448.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192449.00,,,,,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,192450.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 32.02 3.37 13.37 4.00 4.02 0 24726.07 04:55:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192451.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192452.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192453.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.05 2.50 12.79 3.91 4.03 0 9886.46 04:55:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192454.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192455.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.18 3.26 13.96 4.00 4.03 0 15925.94 04:55:30 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192456.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.970000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192457.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192458.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192459.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192500.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.02 3.07 13.37 4.00 4.02 0 24725.84 04:55:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192501.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192502.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192503.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.05 2.64 12.79 3.91 4.03 0 9886.28 04:55:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192504.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192505.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.18 3.48 13.96 4.00 4.03 0 15925.56 04:55:40 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192506.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.970000 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192507.00,,,,,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,192508.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192509.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192510.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.98 3.56 13.37 4.00 4.02 0 24725.51 04:55:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192511.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192512.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192513.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.05 2.71 12.79 3.91 4.03 0 9886.00 04:55:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192514.00,,,,,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,192515.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.18 3.41 13.96 4.00 4.03 0 15925.31 04:55:50 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192516.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.970000 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192517.00,,,,,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,192518.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192519.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192520.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.98 3.33 13.37 4.00 4.02 0 24725.26 04:55:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192521.00,,,,,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,192522.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192523.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.01 2.75 12.79 3.91 4.03 0 9885.82 04:55:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192524.00,,,,,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,192525.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.18 3.30 13.96 3.99 4.02 0 15924.91 04:56:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192526.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192527.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192528.00,,,,,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,192529.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192530.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.98 3.63 13.28 4.00 4.02 0 24724.90 04:56:05 m : AshtechGps::processRecord() - $GPGGA,192531.00,,,,,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,192532.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192533.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.01 2.75 12.69 3.91 4.03 0 9885.54 04:56:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192534.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192535.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.22 3.23 13.96 3.99 4.02 0 15924.66 04:56:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192536.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192537.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192538.00,,,,,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,192539.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192540.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.98 3.63 13.37 4.00 4.02 0 24724.65 04:56:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192541.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192542.00,,,,,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,192543.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.05 2.71 12.69 3.91 4.03 0 9885.35 04:56:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192544.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192545.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.18 3.44 13.86 4.00 4.03 0 15924.29 04:56:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192546.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.970000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192547.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192548.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192549.00,,,,,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,192550.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.98 3.41 13.37 4.00 4.02 0 24724.29 04:56:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192551.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192552.00,,,,,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,192553.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.05 2.53 12.69 3.92 4.03 0 9885.05 04:56:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192554.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192555.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.18 3.26 13.86 4.00 4.03 0 15924.03 04:56:30 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192556.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.973333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192557.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192558.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192559.00,,,,,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,192600.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.98 3.59 13.28 4.00 4.02 0 24724.07 04:56:35 m : AshtechGps::processRecord() - $GPGGA,192601.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192602.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192603.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.01 2.93 12.79 3.92 4.03 0 9884.86 04:56:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192604.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192605.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.22 3.19 13.96 3.99 4.03 0 15923.64 04:56:40 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192606.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.970000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192607.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192608.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192609.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192610.00,,,,,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: $aaq0 d- 32.02 3.19 13.37 4.00 4.02 0 24723.72 04:56:45 m : AshtechGps::processRecord() - $GPGGA,192611.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192612.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192613.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.05 2.93 12.79 3.91 4.03 0 9884.54 04:56:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192614.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192615.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.18 3.26 13.86 3.99 4.03 0 15923.38 04:56:50 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192616.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192617.00,,,,,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,192618.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192619.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192620.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.02 3.22 13.28 4.00 4.02 0 24723.48 04:56:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192621.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192622.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192623.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.05 2.50 12.69 3.91 4.03 0 9884.36 04:56:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192624.00,,,,,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,192625.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.18 3.23 13.86 3.99 4.02 0 15923.01 04:57:00 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192626.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192627.00,,,,,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,192628.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192629.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192630.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.94 3.48 13.28 4.00 4.02 0 24723.08 04:57:05 m : AshtechGps::processRecord() - $GPGGA,192631.00,,,,,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,192632.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192633.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.05 2.64 12.79 3.91 4.03 0 9884.07 04:57:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192634.00,,,,,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,192635.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.18 3.52 13.86 3.99 4.02 0 15922.76 04:57:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192636.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192637.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192638.00,,,,,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,192639.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192640.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 32.02 3.41 13.28 4.00 4.02 0 24722.85 04:57:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192641.00,,,,,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,192642.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192643.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.05 2.75 12.69 3.91 4.03 0 9883.89 04:57:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192644.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192645.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.11 3.88 13.96 3.99 4.02 0 15922.39 04:57:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192646.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192647.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192648.00,,,,,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,192649.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192650.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.98 3.19 13.28 4.00 4.02 0 24722.50 04:57:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192651.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192652.00,,,,,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,192653.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.01 2.75 12.69 3.91 4.03 0 9883.57 04:57:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192654.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192655.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.18 3.41 13.96 3.99 4.02 0 15922.13 04:57:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192656.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192657.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192658.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192659.00,,,,,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,192700.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.98 3.07 13.28 4.00 4.02 0 24722.27 04:57:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192701.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192702.00,,,,,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,192703.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.01 2.86 12.69 3.91 4.03 0 9883.39 04:57:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192704.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192705.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.18 3.19 13.96 3.99 4.02 0 15921.75 04:57:40 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192706.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192707.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192708.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192709.00,,,,,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,192710.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 32.02 3.22 13.28 4.00 4.02 0 24721.94 04:57:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192711.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192712.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192713.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.05 2.64 12.79 3.91 4.03 0 9883.10 04:57:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192714.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192715.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.18 3.26 13.86 3.99 4.02 0 15921.49 04:57:50 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192716.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192717.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192718.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192719.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192720.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.02 3.37 13.37 4.00 4.02 0 24721.71 04:57:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192721.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192722.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192723.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.01 2.67 12.79 3.91 4.03 0 9882.91 04:57:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192724.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192725.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.18 3.26 13.86 3.99 4.02 0 15921.10 04:58:00 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192726.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192727.00,,,,,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,192728.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192729.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192730.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.02 3.75 13.37 4.00 4.02 0 24721.30 04:58:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192731.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192732.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192733.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.01 2.78 12.69 3.91 4.03 0 9882.63 04:58:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192734.00,,,,,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,192735.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.15 3.73 13.96 3.99 4.02 0 15920.85 04:58:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192736.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192737.00,,,,,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,192738.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192739.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192740.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.98 3.26 13.37 4.00 4.02 0 24721.05 04:58:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192741.00,,,,,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,192742.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192743.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.01 2.50 12.79 3.91 4.03 0 9882.44 04:58:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192744.00,,,,,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,192745.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.11 4.42 13.86 3.99 4.02 0 15920.47 04:58:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192746.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192747.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192748.00,,,,,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,192749.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192750.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 32.02 3.30 13.28 4.00 4.01 0 24720.71 04:58:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192751.00,,,,,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,192752.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192753.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.05 2.50 12.79 3.91 4.03 0 9882.13 04:58:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192754.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192755.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.18 3.70 13.86 3.99 4.02 0 15920.22 04:58:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192756.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192757.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192758.00,,,,,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,192759.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192800.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.98 3.04 13.28 4.00 4.01 0 24720.50 04:58:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192801.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192802.00,,,,,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,192803.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.01 2.71 12.69 3.91 4.03 0 9881.93 04:58:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192804.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192805.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.18 3.16 13.86 3.99 4.02 0 15919.86 04:58:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192806.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192807.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192808.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192809.00,,,,,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,192810.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.98 3.15 13.28 4.00 4.02 0 24720.17 04:58:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192811.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192812.00,,,,,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,192813.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.01 2.96 12.79 3.91 4.03 0 9881.66 04:58:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192814.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192815.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.18 3.08 13.86 3.99 4.02 0 15919.60 04:58:50 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192816.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192817.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192818.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192819.00,,,,,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,192820.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.98 3.26 13.28 4.00 4.02 0 24719.94 04:58:55 m : AshtechGps::processRecord() - $GPGGA,192821.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192822.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192823.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.01 2.71 12.79 3.91 4.03 0 9881.48 04:58:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192824.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192825.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.15 3.23 13.96 3.99 4.02 0 15919.22 04:59:00 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192826.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192827.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192828.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192829.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192830.00,,,,,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: $aaq0 d- 31.94 3.89 13.37 4.00 4.02 0 24719.59 04:59:05 m : AshtechGps::processRecord() - $GPGGA,192831.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192832.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192833.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.05 2.67 12.69 3.91 4.03 0 9881.19 04:59:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192834.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192835.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.18 3.26 13.86 3.99 4.02 0 15918.94 04:59:10 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192836.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192837.00,,,,,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,192838.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192839.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192840.00,,,,,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- 32.02 3.41 13.37 4.00 4.02 0 24719.35 04:59:15 m : AshtechGps::processRecord() - $GPGGA,192841.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192842.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192843.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.01 2.50 12.69 3.91 4.03 0 9881.01 04:59:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192844.00,,,,,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,192845.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.15 3.77 13.96 3.99 4.02 0 15918.55 04:59:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192846.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192847.00,,,,,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,192848.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192849.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192850.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.98 3.41 13.28 4.00 4.01 0 24718.99 04:59:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192851.00,,,,,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,192852.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192853.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.01 2.57 12.69 3.91 4.03 0 9880.69 04:59:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192854.00,,,,,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,192855.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.18 3.41 13.86 3.99 4.02 0 15918.29 04:59:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192856.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192857.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192858.00,,,,,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,192859.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192900.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.94 3.75 13.18 4.00 4.01 0 24718.77 04:59:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192901.00,,,,,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,192902.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192903.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.01 3.18 12.69 3.91 4.03 0 9880.48 04:59:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192904.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192905.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.18 3.41 13.96 3.99 4.02 0 15917.89 04:59:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192906.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192907.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192908.00,,,,,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,192909.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192910.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.98 3.19 13.28 4.00 4.02 0 24718.41 04:59:45 m : AshtechGps::processRecord() - $GPGGA,192911.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192912.00,,,,,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,192913.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.01 2.86 12.69 3.91 4.03 0 9880.20 04:59:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192914.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192915.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.18 3.16 13.96 3.99 4.02 0 15917.64 04:59:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192916.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192917.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192918.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192919.00,,,,,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,192920.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.98 3.37 13.28 4.00 4.02 0 24718.17 04:59:55 m : AshtechGps::processRecord() - $GPGGA,192921.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192922.00,,,,,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,192923.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.01 2.57 12.69 3.91 4.03 0 9879.99 04:59:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192924.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192925.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.18 3.30 13.86 3.99 4.02 0 15917.20 05:00:00 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192926.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192927.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192928.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192929.00,,,,,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,192930.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 32.02 3.41 13.28 4.00 4.02 0 24717.81 05:00:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192931.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192932.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192933.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.01 2.60 12.69 3.91 4.03 0 9879.71 05:00:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192934.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192935.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.15 3.52 13.86 3.99 4.02 0 15916.95 05:00:10 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192936.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192937.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192938.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192939.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192940.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.98 3.22 13.28 4.00 4.02 0 24717.59 05:00:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192941.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192942.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192943.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.01 2.67 12.69 3.91 4.03 0 9879.52 05:00:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192944.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192945.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.15 3.34 13.96 3.99 4.02 0 15916.55 05:00:20 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192946.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192947.00,,,,,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,192948.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192949.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192950.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.98 3.19 13.28 4.00 4.02 0 24717.20 05:00:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192951.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192952.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192953.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.97 2.67 12.69 3.91 4.03 0 9879.25 05:00:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192954.00,,,,,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,192955.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.18 3.19 13.86 3.99 4.02 0 15916.30 05:00:30 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192956.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192957.00,,,,,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,192958.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192959.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193000.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.98 3.30 13.37 4.00 4.02 0 24716.98 05:00:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193001.00,,,,,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,193002.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193003.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.01 2.75 12.69 3.91 4.03 0 9879.06 05:00:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193004.00,,,,,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,193005.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.18 3.23 13.86 3.99 4.02 0 15915.93 05:00:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193006.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193007.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193008.00,,,,,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,193009.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193010.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.98 3.11 13.28 4.00 4.02 0 24716.65 05:00:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193011.00,,,,,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,193012.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193013.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.01 2.50 12.69 3.91 4.03 0 9878.74 05:00:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193014.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193015.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.18 3.30 13.96 3.99 4.02 0 15915.68 05:00:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193016.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193017.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193018.00,,,,,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,193019.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193020.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 32.02 3.82 13.28 4.00 4.02 0 24716.44 05:00:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193021.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193022.00,,,,,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,193023.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.05 2.60 12.79 3.91 4.03 0 9878.54 05:00:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193024.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193025.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.18 3.30 13.96 3.99 4.02 0 15915.25 05:01:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193026.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193027.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193028.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193029.00,,,,,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,193030.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.98 3.19 13.18 4.00 4.01 0 24716.09 05:01:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193031.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193032.00,,,,,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,193033.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.97 3.11 12.69 3.91 4.03 0 9878.24 05:01:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193034.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193035.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.15 3.41 13.86 3.99 4.02 0 15914.98 05:01:10 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193036.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193037.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193038.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193039.00,,,,,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,193040.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.94 3.30 13.37 4.00 4.01 0 24715.84 05:01:15 m : AshtechGps::processRecord() - $GPGGA,193041.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193042.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193043.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.01 2.78 12.69 3.91 4.03 0 9878.05 05:01:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193044.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193045.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.15 3.37 13.86 3.99 4.02 0 15914.60 05:01:20 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193046.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193047.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193048.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193049.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193050.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.98 3.19 13.37 4.00 4.01 0 24715.51 05:01:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193051.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193052.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193053.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.05 2.50 12.79 3.91 4.03 0 9877.76 05:01:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193054.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193055.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.15 3.26 13.96 3.99 4.02 0 15914.35 05:01:30 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193056.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193057.00,,,,,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,193058.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193059.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193100.00,,,,,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: $aaq0 d- 31.98 3.30 13.18 4.00 4.01 0 24715.29 05:01:35 m : AshtechGps::processRecord() - $GPGGA,193101.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193102.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193103.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.01 2.67 12.69 3.91 4.03 0 9877.57 05:01:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193104.00,,,,,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,193105.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.15 3.12 13.96 3.99 4.02 0 15913.98 05:01:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193106.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193107.00,,,,,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,193108.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193109.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193110.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.94 3.41 13.37 4.00 4.02 0 24714.94 05:01:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193111.00,,,,,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,193112.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193113.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.89 3.98 12.79 3.91 4.03 0 9877.23 05:01:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193114.00,,,,,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,193115.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.15 3.37 13.96 3.99 4.02 0 15913.65 05:01:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193116.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193117.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193118.00,,,,,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,193119.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193120.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.98 3.30 13.28 4.00 4.02 0 24714.69 05:01:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193121.00,,,,,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,193122.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193123.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.01 2.75 12.69 3.91 4.03 0 9877.05 05:01:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193124.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=4.29 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193125.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.15 3.70 13.86 3.98 4.01 0 15913.28 05:02:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193126.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.963333 : Waypoint has set the state to finished. : Waypoint (4078781.0, 598567.0), reached at t = 842.59 (wplog) : Vehicle Position is error is (-0.6, 0.5) : LayeredControl::execute() -- (t = 842.592278) Behavior waypoint_yoyo:6622 has changed to state Finished : LayeredControl - sending BehaviorFinished:6622 msg to VcsServer : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : *** Stack empty after processing. Waiting on VCS... : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193127.00,,,,,0,00,,,M,,M,,*47 : 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,193128.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynoLayeredControlServer insertBehaves : StatePublisher: Updating state vector : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion ascend after pos 2 : StatePublisher: sent 275 bytes to AMC, errno = 4 : DynoLayeredControl::insert - stack now contains 7 behaviors : LayeredControl::execute() -- (t = 845.352089) Behavior ascend:33115 has changed to state Active : LayeredControl - ascend BehaviorStarted:33115 msg to VcsServer : AshtechGps::processRecord() - $GPGGA,193129.00,,,,,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,193130.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.94 3.22 13.37 4.00 4.01 0 24714.33 05:02:05 m : AshtechGps::processRecord() - $GPGGA,193131.00,,,,,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,193132.00,,,,,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,193133.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.01 2.35 12.79 3.91 4.03 0 9876.79 05:02:08 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,193134.00,,,,,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 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193135.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.15 3.23 13.96 3.98 4.01 0 15913.05 05:02:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193136.00,,,,,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 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.963333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193137.00,,,,,0,00,,,M,,M,,*46 : 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,193138.00,,,,,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,193139.00,,,,,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,193140.00,,,,,0,00,,,M,,M,,*46 : 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: $aaq0 d- 31.98 3.11 13.18 4.00 4.01 0 24714.11 05:02:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193141.00,,,,,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 : AshtechGps::processRecord() - $GPGGA,193142.00,,,,,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,193143.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.01 2.64 12.79 3.91 4.03 0 9876.61 05:02:18 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,193144.00,,,,,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,193145.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.15 3.66 13.86 3.99 4.02 0 15912.71 05:02:20 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,193146.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193147.00,,,,,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 : AshtechGps::processRecord() - $GPGGA,193148.00,,,,,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,193149.00,,,,,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,193150.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.98 3.15 13.37 4.00 4.01 0 24713.76 05:02:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193151.00,,,,,0,00,,,M,,M,,*46 : 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,193152.00,,,,,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 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193153.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.01 2.46 12.79 3.91 4.03 0 9876.35 05:02:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193154.00,,,,,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,193155.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.15 3.41 13.96 3.99 4.02 0 15912.44 05:02:30 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,193156.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193157.00,,,,,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,193158.00,,,,,0,00,,,M,,M,,*4F : 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,193159.00,,,,,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,193200.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.02 3.22 13.37 4.00 4.01 0 24713.53 05:02:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193201.00,,,,,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,193202.00,,,,,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,193203.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.01 2.82 12.79 3.91 4.03 0 9876.17 05:02:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193204.00,,,,,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 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193205.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.11 3.84 13.96 3.99 4.02 0 15912.05 05:02:40 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,193206.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : 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,193207.00,,,,,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,193208.00,,,,,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,193209.00,,,,,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,193210.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.98 3.07 13.18 4.00 4.01 0 24713.18 05:02:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193211.00,,,,,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 : AshtechGps::processRecord() - $GPGGA,193212.00,,,,,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,193213.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.01 2.64 12.79 3.91 4.03 0 9875.89 05:02:48 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,193214.00,,,,,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,193215.00,,,,,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: $c0q0 d- 32.15 3.41 13.86 3.99 4.02 0 15911.81 05:02:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193216.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : 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,193217.00,,,,,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,193218.00,,,,,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,193219.00,,,,,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,193220.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 32.02 3.85 13.37 4.00 4.01 0 24712.96 05:02:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193221.00,,,,,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,193222.00,,,,,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 : AshtechGps::processRecord() - $GPGGA,193223.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.01 2.53 12.79 3.91 4.03 0 9875.71 05:02:58 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,193224.00,,,,,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,193225.00,,,,,0,00,,,M,,M,,*46 : 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: $c0q0 d- 32.15 3.52 13.86 3.98 4.02 0 15911.43 05:03:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193226.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.963333 : 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,193227.00,,,,,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,193228.00,,,,,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,193229.00,,,,,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,193230.00,,,,,0,02,,,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 : BluefinBatt Reply: $aaq0 d- 31.91 4.52 13.37 4.00 4.01 0 24712.62 05:03:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193231.00,3650.97076,N,12153.65548,W,1,05,1.6,-2.22,M,-32.59,M,,*79 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193232.00,3650.97118,N,12153.65407,W,1,04,1.7,-3.64,M,-32.59,M,,*7A : 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,193233.00,3650.97138,N,12153.65292,W,1,04,1.7,-5.07,M,-32.59,M,,*70 : BluefinBatt Reply: $b6q0 d- 32.01 2.39 12.79 3.91 4.03 0 9875.42 05:03:08 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,193234.00,3650.97147,N,12153.65227,W,1,05,1.6,-4.69,M,-32.59,M,,*78 : 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,193235.00,3650.97170,N,12153.65189,W,1,05,1.6,-4.56,M,-32.59,M,,*76 : BluefinBatt Reply: $c0q0 d- 32.18 3.30 13.86 3.98 4.02 0 15911.13 05:03:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193236.00,3650.97202,N,12153.65137,W,1,07,1.2,-4.04,M,-32.59,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.963333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193237.00,3650.97209,N,12153.65059,W,1,07,1.2,-2.97,M,-32.59,M,,*78 : 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,193238.00,3650.97226,N,12153.64951,W,1,07,1.2,-2.79,M,-32.59,M,,*7A : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193239.00,3650.97233,N,12153.64864,W,1,07,1.2,-3.08,M,-32.59,M,,*7F : 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,193240.00,3650.97183,N,12153.64854,W,1,07,1.2,-3.34,M,-32.59,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 32.02 2.67 13.18 4.00 4.01 0 24712.42 05:03:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193241.00,,,,,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,193242.00,,,,,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,193243.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.01 2.57 12.79 3.91 4.03 0 9875.25 05:03:18 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=1.50 : DynoLayeredControlServer insertBehaves : DynoLayeredControlServer rdeleteBehavior(33115) : DynoLayeredControlServer rdeleteBehavior(52262) : DynoLayeredControlServer rdeleteBehavior(52347) : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion getgps after pos 2 : DynoLayeredControl::insert - stack now contains 8 behaviors : DynoLayeredControl::delete - deleteing behavior w/id=33115 : Found behavior ascend with id 33115 : Behavior ascend is Active, abandon it : DynoLayeredControl::delete - behavior removed : DynoLayeredControl::delete - deleteing behavior w/id=52262 : DynoLayeredControl::delete - behavior not found : DynoLayeredControl::delete - deleteing behavior w/id=52347 : Found behavior getgps with id 52347 : Behavior getgps is not Active, remove it from the stack : DynoLayeredControl::delete - behavior removed : LayeredControl::execute() -- (t = 919.956979) Behavior ascend:33115 has changed to state Finished : LayeredControl - sending BehaviorFinished:33115 msg to VcsServer : *** Stack empty after processing. Waiting on VCS... : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193244.00,,,,,0,00,,,M,,M,,*41 : 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,193245.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.15 3.55 13.86 3.99 4.02 0 15910.80 05:03:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193246.00,,,,,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 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion ascend after pos 2 : DynoLayeredControl::insert - stack now contains 8 behaviors : LayeredControl::execute() -- (t = 922.936774) Behavior ascend:57740 has changed to state Active : LayeredControl - ascend BehaviorStarted:57740 msg to VcsServer : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193247.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193248.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193249.00,,,,,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,193250.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.98 2.92 13.37 4.00 4.01 0 24712.08 05:03:25 m : AshtechGps::processRecord() - $GPGGA,193251.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193252.00,,,,,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,193253.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.01 2.46 12.79 3.91 4.03 0 9874.94 05:03:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193254.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193255.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.15 3.41 13.96 3.99 4.02 0 15910.54 05:03:30 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193256.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193257.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193258.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193259.00,,,,,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,193300.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.91 3.59 13.28 4.00 4.01 0 24711.85 05:03:35 m : AshtechGps::processRecord() - $GPGGA,193301.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193302.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193303.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.01 2.57 12.79 3.91 4.03 0 9874.73 05:03:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193304.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193305.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.15 3.37 13.86 3.98 4.01 0 15910.13 05:03:40 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193306.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.963333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193307.00,,,,,0,01,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193308.00,,,,,0,01,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193309.00,,,,,0,01,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193310.00,3650.95237,N,12153.63916,W,1,03,2.0,-4.45,M,-32.59,M,,*7B : AshtechGps::processRecord() - nSats = 3; setting quality to 0 (invalid) : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.91 3.59 13.18 4.00 4.01 0 24711.45 05:03:45 m : AshtechGps::processRecord() - $GPGGA,193311.00,3650.95575,N,12153.63650,W,1,03,2.0,-4.45,M,-32.59,M,,*76 : AshtechGps::processRecord() - nSats = 3; setting quality to 0 (invalid) : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193312.00,,,,,0,01,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193313.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.01 2.60 12.79 3.90 4.02 0 9874.45 05:03:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193314.00,3650.95721,N,12153.63278,W,1,06,1.4,-7.56,M,-32.59,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193315.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.11 3.73 13.86 3.98 4.01 0 15909.88 05:03:50 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193316.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.960000 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193317.00,,,,,0,04,5.1,,M,,M,,*68 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193318.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193319.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193320.00,,,,,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: $aaq0 d- 31.91 3.97 13.18 4.00 4.01 0 24711.20 05:03:55 m : AshtechGps::processRecord() - $GPGGA,193321.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193322.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193323.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.01 2.46 12.69 3.90 4.02 0 9874.24 05:03:58 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193324.00,,,,,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,193325.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.15 3.66 13.86 3.98 4.02 0 15909.47 05:04:00 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193326.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.960000 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193327.00,,,,,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,193328.00,,,,,0,01,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193329.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193330.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.94 3.41 13.18 3.99 4.01 0 24710.86 05:04:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193331.00,,,,,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,193332.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193333.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.01 2.57 12.69 3.91 4.03 0 9873.94 05:04:08 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193334.00,,,,,0,02,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193335.00,,,,,0,03,13.8,,M,,M,,*51 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.11 3.84 13.86 3.98 4.02 0 15909.18 05:04:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193336.00,3650.94664,N,12153.62695,W,1,05,1.5,7.17,M,-32.59,M,,*50 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.960000 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193337.00,3650.94679,N,12153.62640,W,1,06,1.5,-4.05,M,-32.59,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193338.00,3650.94582,N,12153.62610,W,1,06,1.5,-3.36,M,-32.59,M,,*71 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193339.00,3650.94537,N,12153.62589,W,1,06,1.5,-0.90,M,-32.59,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193340.00,3650.94528,N,12153.62575,W,1,06,1.5,-1.42,M,-32.59,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.94 3.41 13.18 3.99 4.01 0 24710.61 05:04:15 m : AshtechGps::processRecord() - $GPGGA,193341.00,3650.94483,N,12153.62535,W,1,07,1.2,-2.36,M,-32.59,M,,*7C : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193342.00,3650.94444,N,12153.62486,W,1,07,1.2,-1.90,M,-32.59,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193343.00,3650.94363,N,12153.62443,W,1,07,1.2,-1.25,M,-32.59,M,,*76 : BluefinBatt Reply: $b6q0 d- 31.97 2.96 12.79 3.91 4.03 0 9873.74 05:04:18 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193344.00,3650.94306,N,12153.62428,W,1,07,1.2,-1.52,M,-32.59,M,,*7F : LayeredControl::execute() -- (t = 980.992797) Behavior ascend:57740 has changed to state Finished : LayeredControl - sending BehaviorFinished:57740 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,193345.00,3650.94248,N,12153.62401,W,1,07,1.2,-1.99,M,-32.59,M,,*79 : BluefinBatt Reply: $c0q0 d- 32.11 3.48 13.86 3.98 4.02 0 15908.80 05:04:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193346.00,3650.94193,N,12153.62410,W,1,07,1.2,-2.25,M,-32.59,M,,*7B : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.960000 : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion getgps after pos 2 : DynoLayeredControl::insert - stack now contains 9 behaviors : GetGPS::execute() -- Got a new GPS hit: 1 of 30 needed : LayeredControl::execute() -- (t = 982.932664) Behavior getgps:73728 has changed to state Active : LayeredControl - getgps BehaviorStarted:73728 msg to VcsServer : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193347.00,3650.94112,N,12153.62416,W,1,07,1.2,-2.72,M,-32.59,M,,*77 : GetGPS::execute() -- Got a new GPS hit: 2 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,193348.00,3650.94061,N,12153.62427,W,1,07,1.2,-2.80,M,-32.59,M,,*72 : GetGPS::execute() -- Got a new GPS hit: 3 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193349.00,3650.94015,N,12153.62443,W,1,07,1.2,-2.31,M,-32.59,M,,*78 : GetGPS::execute() -- Got a new GPS hit: 4 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,193350.00,3650.93960,N,12153.62431,W,1,07,1.2,-2.34,M,-32.59,M,,*7C : 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 : BluefinBatt Reply: $aaq0 d- 32.02 1.29 13.28 3.99 4.01 0 24710.20 05:04:25 m : AshtechGps::processRecord() - $GPGGA,193351.00,3650.93906,N,12153.62465,W,1,07,1.2,-2.13,M,-32.59,M,,*79 : 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,193352.00,3650.93859,N,12153.62405,W,1,07,1.2,-1.26,M,-32.59,M,,*72 : GetGPS::execute() -- Got a new GPS hit: 7 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193353.00,3650.93788,N,12153.62336,W,1,07,1.2,-0.73,M,-32.59,M,,*76 : GetGPS::execute() -- Got a new GPS hit: 8 of 30 needed : BluefinBatt Reply: $b6q0 d- 32.08 0.97 12.79 3.91 4.03 0 9873.53 05:04:28 m : 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,193354.00,3650.93738,N,12153.62275,W,1,07,1.2,-1.61,M,-32.59,M,,*7E : GetGPS::execute() -- Got a new GPS hit: 9 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,193355.00,3650.93700,N,12153.62283,W,1,07,1.2,-1.95,M,-32.59,M,,*76 : GetGPS::execute() -- Got a new GPS hit: 10 of 30 needed : BluefinBatt Reply: $c0q0 d- 32.22 1.39 13.86 3.98 4.02 0 15908.63 05:04:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193356.00,3650.93667,N,12153.62264,W,1,07,1.2,-2.01,M,-32.59,M,,*72 : GetGPS::execute() -- Got a new GPS hit: 11 of 30 needed : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.960000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193357.00,3650.93630,N,12153.62273,W,1,07,1.2,-2.61,M,-32.59,M,,*71 : 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,193358.00,3650.93597,N,12153.62302,W,1,07,1.2,-3.08,M,-32.59,M,,*79 : 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,193359.00,3650.93560,N,12153.62341,W,1,07,1.2,-2.98,M,-32.59,M,,*7F : GetGPS::execute() -- Got a new GPS hit: 14 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193400.00,3650.93527,N,12153.62368,W,1,07,1.2,-2.06,M,-32.59,M,,*7B : GetGPS::execute() -- Got a new GPS hit: 15 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 : BluefinBatt Reply: $aaq0 d- 32.02 1.29 13.28 3.99 4.01 0 24710.13 05:04:35 m : AshtechGps::processRecord() - $GPGGA,193401.00,3650.93496,N,12153.62280,W,1,07,1.2,-0.68,M,-32.59,M,,*7C : GetGPS::execute() -- Got a new GPS hit: 16 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,193402.00,3650.93456,N,12153.62167,W,1,07,1.2,-1.07,M,-32.59,M,,*71 : GetGPS::execute() -- Got a new GPS hit: 17 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193403.00,3650.93442,N,12153.62116,W,1,07,1.2,-2.34,M,-32.59,M,,*70 : GetGPS::execute() -- Got a new GPS hit: 18 of 30 needed : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $b6q0 d- 32.08 0.86 12.69 3.91 4.03 0 9873.44 05:04:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193404.00,3650.93414,N,12153.62123,W,1,07,1.2,-3.09,M,-32.59,M,,*7D : 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 : AshtechGps::processRecord() - $GPGGA,193405.00,3650.93387,N,12153.62195,W,1,07,1.2,-3.10,M,-32.59,M,,*74 : GetGPS::execute() -- Got a new GPS hit: 20 of 30 needed : BluefinBatt Reply: $c0q0 d- 32.22 1.39 13.86 4.00 4.03 0 15908.46 05:04:40 m : 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,193406.00,3650.93363,N,12153.62197,W,1,06,1.3,-2.13,M,-32.59,M,,*7D : GetGPS::execute() -- Got a new GPS hit: 21 of 30 needed : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193407.00,3650.93352,N,12153.62202,W,1,07,1.2,-2.23,M,-32.59,M,,*72 : GetGPS::execute() -- Got a new GPS hit: 22 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,193408.00,3650.93336,N,12153.62188,W,1,07,1.2,-2.34,M,-32.59,M,,*78 : GetGPS::execute() -- Got a new GPS hit: 23 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,193409.00,3650.93309,N,12153.62201,W,1,07,1.2,-2.22,M,-32.59,M,,*70 : GetGPS::execute() -- Got a new GPS hit: 24 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193410.00,3650.93285,N,12153.62187,W,1,07,1.2,-1.76,M,-32.59,M,,*72 : GetGPS::execute() -- Got a new GPS hit: 25 of 30 needed : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 32.06 1.18 13.18 4.01 4.03 0 24709.98 05:04:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193411.00,3650.93242,N,12153.62143,W,1,07,1.2,-2.08,M,-32.59,M,,*7A : 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 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193412.00,3650.93223,N,12153.62136,W,1,07,1.2,-1.99,M,-32.59,M,,*77 : 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 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193413.00,3650.93213,N,12153.62129,W,1,07,1.2,-2.08,M,-32.59,M,,*70 : GetGPS::execute() -- Got a new GPS hit: 28 of 30 needed : BluefinBatt Reply: $b6q0 d- 32.12 1.23 12.69 3.92 4.04 0 9873.34 05:04:48 m : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193414.00,3650.93195,N,12153.62130,W,1,07,1.2,-2.37,M,-32.59,M,,*7E : GetGPS::execute() -- Got a new GPS hit: 29 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,193415.00,3650.93174,N,12153.62143,W,1,07,1.2,-2.58,M,-32.59,M,,*7D : GetGPS::execute() -- Got a new GPS hit: 30 of 30 needed : LayeredControl::execute() -- (t = 1011.400714) Behavior getgps:73728 has changed to state Finished : LayeredControl - sending BehaviorFinished:73728 msg to VcsServer : *** Stack empty after processing. Waiting on VCS... : BluefinBatt Reply: $c0q0 d- 32.22 1.57 13.86 4.00 4.03 0 15908.38 05:04:50 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,193416.00,3650.93170,N,12153.62196,W,1,07,1.2,-2.48,M,-32.59,M,,*73 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.976667 : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion setpoint after pos 2 : DynoLayeredControl::insert - stack now contains 10 behaviors : LayeredControl::execute() -- (t = 1013.130596) Behavior setpoint:81406 has changed to state Active : LayeredControl - setpoint BehaviorStarted:81406 msg to VcsServer : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193417.00,3650.93176,N,12153.62162,W,1,07,1.2,-1.41,M,-32.59,M,,*75 : 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,193418.00,3650.93152,N,12153.62148,W,1,04,2.1,-2.70,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,193419.00,3650.93130,N,12153.62125,W,1,04,2.1,-3.27,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,193420.00,3650.93113,N,12153.62146,W,1,06,1.5,-3.63,M,-32.59,M,,*70 : BluefinBatt Reply: $aaq0 d- 32.06 1.14 13.18 4.01 4.03 0 24709.89 05:04:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193421.00,3650.93101,N,12153.62170,W,1,07,1.2,-3.40,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,193422.00,3650.93086,N,12153.62147,W,1,07,1.2,-2.61,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,193423.00,3650.93081,N,12153.62145,W,1,07,1.2,-2.55,M,-32.59,M,,*78 : BluefinBatt Reply: $b6q0 d- 32.05 1.33 12.69 3.92 4.04 0 9873.25 05:04:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193424.00,3650.93072,N,12153.62097,W,1,07,1.2,-2.09,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,193425.00,3650.93051,N,12153.62109,W,1,07,1.2,-2.43,M,-32.59,M,,*7C : BluefinBatt Reply: $c0q0 d- 32.22 1.61 13.86 4.00 4.03 0 15908.22 05:05:00 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,193426.00,3650.93032,N,12153.62112,W,1,07,1.2,-2.53,M,-32.59,M,,*71 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.976667 : 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,193427.00,3650.93022,N,12153.62146,W,1,07,1.2,-3.02,M,-32.59,M,,*75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193428.00,3650.93014,N,12153.62169,W,1,07,1.2,-2.84,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,193429.00,3650.93005,N,12153.62179,W,1,07,1.2,-2.75,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,193430.00,3650.92999,N,12153.62213,W,1,07,1.2,-2.58,M,-32.59,M,,*76 : BluefinBatt Reply: $aaq0 d- 32.06 0.96 13.18 4.01 4.03 0 24709.76 05:05:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193431.00,3650.92987,N,12153.62223,W,1,07,1.2,-2.30,M,-32.59,M,,*75 : 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,193432.00,3650.92993,N,12153.62217,W,1,07,1.2,-1.59,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,193433.00,3650.92973,N,12153.62143,W,1,07,1.2,-1.32,M,-32.59,M,,*78 : BluefinBatt Reply: $b6q0 d- 32.08 1.19 12.69 3.92 4.04 0 9873.13 05:05:08 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,193434.00,3650.92970,N,12153.62124,W,1,07,1.2,-1.94,M,-32.59,M,,*71 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193435.00,3650.92958,N,12153.62110,W,1,07,1.2,-2.31,M,-32.59,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 32.22 2.12 13.86 4.00 4.03 0 15908.10 05:05:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193436.00,3650.92973,N,12153.62147,W,1,07,1.2,-2.57,M,-32.59,M,,*79 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.976667 : 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,193437.00,3650.92959,N,12153.62163,W,1,07,1.2,-2.73,M,-32.59,M,,*70 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193438.00,3650.92964,N,12153.62203,W,1,07,1.2,-2.75,M,-32.59,M,,*72 : 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,193439.00,3650.92957,N,12153.62231,W,1,07,1.2,-2.59,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 : AshtechGps::processRecord() - $GPGGA,193440.00,3650.92958,N,12153.62246,W,1,07,1.2,-2.04,M,-32.59,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 32.06 1.29 13.18 4.01 4.03 0 24709.63 05:05:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193441.00,3650.92944,N,12153.62205,W,1,07,1.2,-1.58,M,-32.59,M,,*74 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193442.00,3650.92939,N,12153.62184,W,1,07,1.2,-1.93,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,193443.00,3650.92944,N,12153.62208,W,1,07,1.2,-2.43,M,-32.59,M,,*72 : BluefinBatt Reply: $b6q0 d- 32.12 0.90 12.69 3.92 4.04 0 9873.02 05:05:18 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,193444.00,3650.92949,N,12153.62233,W,1,07,1.2,-2.18,M,-32.59,M,,*7E : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193445.00,3650.92956,N,12153.62216,W,1,07,1.2,-1.41,M,-32.59,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 32.22 1.50 13.86 4.00 4.03 0 15907.95 05:05:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193446.00,3650.92946,N,12153.62180,W,1,07,1.2,-1.53,M,-32.59,M,,*74 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.976667 : 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,193447.00,3650.92949,N,12153.62176,W,1,07,1.2,-2.01,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,193448.00,3650.92952,N,12153.62191,W,1,07,1.2,-2.46,M,-32.59,M,,*78 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193449.00,3650.92951,N,12153.62212,W,1,07,1.2,-2.55,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,193450.00,3650.92948,N,12153.62232,W,1,07,1.2,-2.42,M,-32.59,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 31.98 1.48 13.18 4.01 4.03 0 24709.50 05:05:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193451.00,3650.92958,N,12153.62242,W,1,07,1.2,-2.25,M,-32.59,M,,*72 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193452.00,3650.92973,N,12153.62228,W,1,07,1.2,-1.96,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,193453.00,3650.92975,N,12153.62218,W,1,07,1.2,-2.06,M,-32.59,M,,*71 : BluefinBatt Reply: $b6q0 d- 32.08 1.19 12.69 3.92 4.04 0 9872.87 05:05:28 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,193454.00,3650.92972,N,12153.62217,W,1,07,1.2,-2.37,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 : AshtechGps::processRecord() - $GPGGA,193455.00,3650.92973,N,12153.62229,W,1,07,1.2,-2.57,M,-32.59,M,,*77 : BluefinBatt Reply: $c0q0 d- 32.22 1.54 13.86 4.00 4.03 0 15907.81 05:05:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193456.00,3650.92967,N,12153.62229,W,1,07,1.2,-2.32,M,-32.59,M,,*72 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.976667 : 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,193457.00,3650.92974,N,12153.62230,W,1,07,1.2,-2.48,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,193458.00,3650.92975,N,12153.62222,W,1,07,1.2,-2.44,M,-32.59,M,,*75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193459.00,3650.93002,N,12153.62221,W,1,07,1.2,-2.15,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,193500.00,3650.93005,N,12153.62217,W,1,07,1.2,-2.58,M,-32.59,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 32.06 1.18 13.18 4.01 4.03 0 24709.41 05:05:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193501.00,3650.93004,N,12153.62232,W,1,07,1.2,-2.72,M,-32.59,M,,*72 : 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,193502.00,3650.93012,N,12153.62251,W,1,07,1.2,-2.69,M,-32.59,M,,*79 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193503.00,3650.93008,N,12153.62257,W,1,07,1.2,-2.58,M,-32.59,M,,*77 : BluefinBatt Reply: $b6q0 d- 32.12 0.86 12.69 3.92 4.04 0 9872.79 05:05:38 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,193504.00,3650.93021,N,12153.62228,W,1,07,1.2,-2.10,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,193505.00,3650.93020,N,12153.62196,W,1,07,1.2,-2.23,M,-32.59,M,,*79 : BluefinBatt Reply: $c0q0 d- 32.22 1.39 13.86 4.00 4.03 0 15907.65 05:05:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193506.00,3650.93032,N,12153.62202,W,1,07,1.2,-3.02,M,-32.59,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.976667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193507.00,3650.93031,N,12153.62230,W,1,07,1.2,-3.32,M,-32.59,M,,*75 : 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,193508.00,3650.93045,N,12153.62274,W,1,07,1.2,-3.23,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,193509.00,3650.93043,N,12153.62298,W,1,07,1.2,-2.45,M,-32.59,M,,*7D : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193510.00,3650.93042,N,12153.62265,W,1,07,1.2,-1.43,M,-32.59,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 32.06 0.96 13.28 4.01 4.03 0 24709.28 05:05:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193511.00,3650.93048,N,12153.62207,W,1,07,1.2,-1.04,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,193512.00,3650.93073,N,12153.62181,W,1,07,1.2,-1.94,M,-32.59,M,,*70 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193513.00,3650.93075,N,12153.62165,W,1,07,1.2,-2.53,M,-32.59,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $b6q0 d- 32.08 1.23 12.69 3.92 4.04 0 9872.66 05:05:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193514.00,3650.93082,N,12153.62177,W,1,07,1.2,-3.42,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,193515.00,3650.93086,N,12153.62219,W,1,07,1.2,-3.89,M,-32.59,M,,*71 : BluefinBatt Reply: $c0q0 d- 32.22 1.61 13.86 4.00 4.03 0 15907.55 05:05:50 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,193516.00,3650.93084,N,12153.62267,W,1,07,1.2,-3.76,M,-32.59,M,,*79 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.976667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193517.00,3650.93100,N,12153.62293,W,1,07,1.2,-2.93,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,193518.00,3650.93092,N,12153.62277,W,1,07,1.2,-2.37,M,-32.59,M,,*75 : 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,193519.00,3650.93103,N,12153.62263,W,1,07,1.2,-2.11,M,-32.59,M,,*7C : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193520.00,3650.93099,N,12153.62229,W,1,07,1.2,-1.66,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 : BluefinBatt Reply: $aaq0 d- 32.06 1.14 13.18 4.01 4.03 0 24709.20 05:05:55 m : AshtechGps::processRecord() - $GPGGA,193521.00,3650.93117,N,12153.62194,W,1,07,1.2,-1.83,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,193522.00,3650.93124,N,12153.62177,W,1,07,1.2,-2.36,M,-32.59,M,,*72 : 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,193523.00,3650.93130,N,12153.62179,W,1,07,1.2,-2.78,M,-32.59,M,,*72 : BluefinBatt Reply: $b6q0 d- 32.12 0.90 12.69 3.92 4.04 0 9872.57 05:05:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193524.00,3650.93135,N,12153.62196,W,1,07,1.2,-3.10,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,193525.00,3650.93140,N,12153.62237,W,1,07,1.2,-3.30,M,-32.59,M,,*77 : BluefinBatt Reply: $c0q0 d- 32.22 1.61 13.86 4.00 4.03 0 15907.37 05:06:00 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,193526.00,3650.93149,N,12153.62264,W,1,07,1.2,-2.82,M,-32.59,M,,*73 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.976667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193527.00,3650.93165,N,12153.62245,W,1,07,1.2,-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,193528.00,3650.93185,N,12153.62218,W,1,07,1.2,-2.09,M,-32.59,M,,*75 : 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,193529.00,3650.93191,N,12153.62217,W,1,07,1.2,-2.42,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,193530.00,3650.93187,N,12153.62208,W,1,07,1.2,-2.35,M,-32.59,M,,*70 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 32.06 1.22 13.28 4.01 4.03 0 24709.08 05:06:05 m : AshtechGps::processRecord() - $GPGGA,193531.00,3650.93192,N,12153.62193,W,1,07,1.2,-2.46,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,193532.00,3650.93194,N,12153.62204,W,1,07,1.2,-2.74,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,193533.00,3650.93202,N,12153.62241,W,1,07,1.2,-3.24,M,-32.59,M,,*71 : BluefinBatt Reply: $b6q0 d- 32.12 0.94 12.69 3.92 4.04 0 9872.44 05:06:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193534.00,3650.93206,N,12153.62241,W,1,07,1.2,-2.54,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,193535.00,3650.93222,N,12153.62208,W,1,07,1.2,-2.13,M,-32.59,M,,*7D : BluefinBatt Reply: $c0q0 d- 32.22 1.54 13.86 4.00 4.03 0 15907.26 05:06:10 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,193536.00,3650.93232,N,12153.62193,W,1,07,1.2,-2.36,M,-32.59,M,,*79 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.976667 : 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,193537.00,3650.93239,N,12153.62189,W,1,07,1.2,-2.48,M,-32.59,M,,*71 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193538.00,3650.93250,N,12153.62182,W,1,07,1.2,-2.69,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,193539.00,3650.93262,N,12153.62185,W,1,07,1.2,-2.91,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,193540.00,3650.93265,N,12153.62217,W,1,07,1.2,-3.34,M,-32.59,M,,*76 : BluefinBatt Reply: $aaq0 d- 32.10 1.26 13.18 4.01 4.03 0 24709.01 05:06:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193541.00,3650.93268,N,12153.62211,W,1,07,1.2,-2.59,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,193542.00,3650.93268,N,12153.62194,W,1,07,1.2,-2.68,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,193543.00,3650.93284,N,12153.62208,W,1,07,1.2,-2.83,M,-32.59,M,,*79 : BluefinBatt Reply: $b6q0 d- 32.12 1.12 12.69 3.92 4.04 0 9872.36 05:06:18 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,193544.00,3650.93292,N,12153.62215,W,1,07,1.2,-2.44,M,-32.59,M,,*7E : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193545.00,3650.93307,N,12153.62192,W,1,07,1.2,-2.21,M,-32.59,M,,*7D : BluefinBatt Reply: $c0q0 d- 32.26 1.18 13.86 4.00 4.03 0 15907.09 05:06:20 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,193546.00,3650.93291,N,12153.62185,W,1,07,1.2,-2.18,M,-32.59,M,,*7C : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.976667 : 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,193547.00,3650.93298,N,12153.62158,W,1,07,1.2,-2.15,M,-32.59,M,,*79 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193548.00,3650.93316,N,12153.62110,W,1,07,1.2,-2.34,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,193549.00,3650.93327,N,12153.62120,W,1,07,1.2,-3.48,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,193550.00,3650.93328,N,12153.62182,W,1,07,1.2,-3.79,M,-32.59,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 32.06 1.33 13.18 4.01 4.03 0 24708.87 05:06:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193551.00,3650.93343,N,12153.62211,W,1,07,1.2,-2.93,M,-32.59,M,,*79 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193552.00,3650.93348,N,12153.62186,W,1,07,1.2,-2.19,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,193553.00,3650.93343,N,12153.62148,W,1,07,1.2,-1.30,M,-32.59,M,,*7E : BluefinBatt Reply: $b6q0 d- 32.12 1.26 12.69 3.92 4.04 0 9872.24 05:06:28 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,193554.00,3650.93339,N,12153.62147,W,1,07,1.2,-1.89,M,-32.59,M,,*79 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193555.00,3650.93360,N,12153.62149,W,1,07,1.2,-2.01,M,-32.59,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 32.26 1.39 13.86 4.00 4.03 0 15906.97 05:06:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193556.00,3650.93369,N,12153.62134,W,1,07,1.2,-2.08,M,-32.59,M,,*70 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.976667 : 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,193557.00,3650.93372,N,12153.62121,W,1,07,1.2,-2.38,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 : AshtechGps::processRecord() - $GPGGA,193558.00,3650.93379,N,12153.62115,W,1,07,1.2,-2.51,M,-32.59,M,,*70 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193559.00,3650.93381,N,12153.62131,W,1,07,1.2,-2.69,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,193600.00,3650.93403,N,12153.62121,W,1,07,1.2,-2.56,M,-32.59,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 32.06 1.26 13.18 4.01 4.03 0 24708.78 05:06:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193601.00,3650.93406,N,12153.62112,W,1,07,1.2,-2.34,M,-32.59,M,,*74 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193602.00,3650.93424,N,12153.62106,W,1,07,1.2,-2.75,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,193603.00,3650.93428,N,12153.62118,W,1,07,1.2,-2.75,M,-32.59,M,,*75 : BluefinBatt Reply: $b6q0 d- 32.16 0.90 12.69 3.92 4.04 0 9872.15 05:06:38 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,193604.00,3650.93438,N,12153.62107,W,1,07,1.2,-2.49,M,-32.59,M,,*72 : 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,193605.00,3650.93435,N,12153.62099,W,1,07,1.2,-2.66,M,-32.59,M,,*75 : BluefinBatt Reply: $c0q0 d- 32.22 1.39 13.86 4.00 4.03 0 15906.84 05:06:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193606.00,3650.93450,N,12153.62084,W,1,07,1.2,-2.82,M,-32.59,M,,*73 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.976667 : 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,193607.00,3650.93446,N,12153.62114,W,1,07,1.2,-3.31,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,193608.00,3650.93462,N,12153.62122,W,1,07,1.2,-2.94,M,-32.59,M,,*76 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193609.00,3650.93473,N,12153.62113,W,1,07,1.2,-2.47,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,193610.00,3650.93488,N,12153.62098,W,1,07,1.2,-2.48,M,-32.59,M,,*7A : 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: $aaq0 d- 32.10 1.07 13.18 4.01 4.03 0 24708.65 05:06:45 m : AshtechGps::processRecord() - $GPGGA,193611.00,3650.93492,N,12153.62074,W,1,07,1.2,-2.27,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,193612.00,3650.93488,N,12153.62056,W,1,07,1.2,-2.48,M,-32.59,M,,*7A : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193613.00,3650.93502,N,12153.62041,W,1,07,1.2,-2.78,M,-32.59,M,,*7D : BluefinBatt Reply: $b6q0 d- 32.12 1.05 12.69 3.92 4.04 0 9872.05 05:06:48 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,193614.00,3650.93507,N,12153.62039,W,1,07,1.2,-2.84,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,193615.00,3650.93525,N,12153.62042,W,1,07,1.2,-3.30,M,-32.59,M,,*70 : BluefinBatt Reply: $c0q0 d- 32.22 1.47 13.86 4.00 4.03 0 15906.75 05:06:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193616.00,3650.93537,N,12153.62073,W,1,07,1.2,-3.63,M,-32.59,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.976667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193617.00,3650.93532,N,12153.62096,W,1,07,1.2,-3.13,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 : AshtechGps::processRecord() - $GPGGA,193618.00,3650.93530,N,12153.62084,W,1,07,1.2,-2.42,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,193619.00,3650.93526,N,12153.62043,W,1,07,1.2,-2.00,M,-32.59,M,,*7C : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193620.00,3650.93543,N,12153.62012,W,1,07,1.2,-2.19,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 : BluefinBatt Reply: $aaq0 d- 32.10 1.22 13.28 4.01 4.03 0 24708.58 05:06:55 m : AshtechGps::processRecord() - $GPGGA,193621.00,3650.93563,N,12153.62014,W,1,07,1.2,-2.81,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,193622.00,3650.93572,N,12153.62028,W,1,07,1.2,-3.03,M,-32.59,M,,*7A : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193623.00,3650.93578,N,12153.62037,W,1,07,1.2,-2.85,M,-32.59,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $b6q0 d- 32.12 1.33 12.79 3.92 4.04 0 9871.95 05:06:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193624.00,3650.93578,N,12153.62051,W,1,07,1.2,-2.54,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,193625.00,3650.93599,N,12153.62009,W,1,07,1.2,-1.85,M,-32.59,M,,*77 : BluefinBatt Reply: $c0q0 d- 32.26 1.43 13.86 4.00 4.03 0 15906.61 05:07:00 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,193626.00,3650.93597,N,12153.61965,W,1,07,1.2,-2.07,M,-32.59,M,,*73 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.976667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193627.00,3650.93607,N,12153.61955,W,1,07,1.2,-2.72,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,193628.00,3650.93616,N,12153.61971,W,1,07,1.2,-3.11,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,193629.00,3650.93630,N,12153.61993,W,1,07,1.2,-3.23,M,-32.59,M,,*7C : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193630.00,3650.93642,N,12153.62020,W,1,07,1.2,-3.28,M,-32.59,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 32.06 1.07 13.18 4.01 4.03 0 24708.44 05:07:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193631.00,3650.93645,N,12153.62027,W,1,07,1.2,-2.80,M,-32.59,M,,*7A : 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,193632.00,3650.93649,N,12153.61992,W,1,07,1.2,-2.12,M,-32.59,M,,*7A : 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,193633.00,3650.93639,N,12153.61941,W,1,07,1.2,-2.02,M,-32.59,M,,*73 : BluefinBatt Reply: $b6q0 d- 32.16 1.08 12.69 3.92 4.04 0 9871.85 05:07:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193634.00,3650.93654,N,12153.61929,W,1,07,1.2,-3.07,M,-32.59,M,,*75 : 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,193635.00,3650.93667,N,12153.61965,W,1,07,1.2,-3.29,M,-32.59,M,,*70 : BluefinBatt Reply: $c0q0 d- 32.26 1.18 13.86 4.00 4.03 0 15906.50 05:07:10 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,193636.00,3650.93673,N,12153.61959,W,1,07,1.2,-2.53,M,-32.59,M,,*75 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.976667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193637.00,3650.93686,N,12153.61916,W,1,07,1.2,-2.17,M,-32.59,M,,*75 : 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,193638.00,3650.93694,N,12153.61876,W,1,07,1.2,-2.17,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,193639.00,3650.93707,N,12153.61871,W,1,07,1.2,-2.69,M,-32.59,M,,*7A : 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,193640.00,3650.93721,N,12153.61897,W,1,07,1.2,-3.33,M,-32.59,M,,*76 : BluefinBatt Reply: $aaq0 d- 32.06 1.22 13.37 4.01 4.03 0 24708.35 05:07:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193641.00,3650.93733,N,12153.61909,W,1,07,1.2,-3.04,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,193642.00,3650.93743,N,12153.61901,W,1,07,1.2,-3.03,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,193643.00,3650.93741,N,12153.61893,W,1,07,1.2,-3.01,M,-32.59,M,,*76 : BluefinBatt Reply: $b6q0 d- 32.12 1.08 12.69 3.92 4.04 0 9871.76 05:07:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193644.00,3650.93742,N,12153.61889,W,1,07,1.2,-2.98,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,193645.00,3650.93759,N,12153.61900,W,1,07,1.2,-3.07,M,-32.59,M,,*74 : BluefinBatt Reply: $c0q0 d- 32.26 1.39 13.86 4.00 4.03 0 15906.32 05:07:20 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,193646.00,3650.93765,N,12153.61919,W,1,07,1.2,-2.79,M,-32.59,M,,*78 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.976667 : LayeredControl::execute() -- (t = 1163.200315) Behavior setpoint:81406 has changed to state Finished : LayeredControl - sending BehaviorFinished:81406 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,193647.00,3650.93776,N,12153.61893,W,1,07,1.2,-2.39,M,-32.59,M,,*7C : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193648.00,3650.93782,N,12153.61852,W,1,07,1.2,-2.31,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,193649.00,3650.93805,N,12153.61832,W,1,07,1.2,-2.66,M,-32.59,M,,*78 : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion setpoint after pos 2 : DynoLayeredControl::insert - stack now contains 11 behaviors : LayeredControl::execute() -- (t = 1165.750141) Behavior setpoint:119969 has changed to state Active : LayeredControl - setpoint BehaviorStarted:119969 msg to VcsServer : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=3.15 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193650.00,3650.93813,N,12153.61844,W,1,07,1.2,-2.90,M,-32.59,M,,*7F : BluefinBatt Reply: $aaq0 d- 32.10 0.96 13.28 4.01 4.03 0 24708.23 05:07:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193651.00,3650.93828,N,12153.61839,W,1,07,1.2,-2.43,M,-32.59,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=3.15 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193652.00,3650.93827,N,12153.61810,W,1,07,1.1,-2.40,M,-32.59,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=3.15 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193653.00,3650.93829,N,12153.61803,W,1,07,1.1,-2.33,M,-32.59,M,,*7C : BluefinBatt Reply: $b6q0 d- 32.08 1.84 12.69 3.92 4.04 0 9871.64 05:07:28 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=3.15 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193654.00,3650.93840,N,12153.61838,W,1,07,1.1,-2.97,M,-32.59,M,,*72 : LayeredControl::execute() -- (t = 1170.799795) Behavior setpoint:119969 has changed to state Finished : LayeredControl - sending BehaviorFinished:119969 msg to VcsServer : *** Stack empty after processing. Waiting on VCS... : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193655.00,3650.93849,N,12153.61880,W,1,07,1.1,-2.94,M,-32.59,M,,*7A : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 32.18 3.05 13.86 4.00 4.03 0 15906.20 05:07:30 m : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion descend after pos 2 : DynoLayeredControl::insert - stack now contains 12 behaviors : LayeredControl::execute() -- (t = 1171.949716) Behavior descend:119927 has changed to state Active : LayeredControl - descend BehaviorStarted:119927 msg to VcsServer : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193656.00,3650.93851,N,12153.61915,W,1,07,1.1,-2.55,M,-32.59,M,,*70 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.976667 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.15 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193657.00,3650.93857,N,12153.61933,W,1,07,1.1,-2.09,M,-32.59,M,,*7A : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193658.00,3650.93846,N,12153.61925,W,1,07,1.1,-1.30,M,-32.59,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.15 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193659.00,3650.93862,N,12153.61919,W,1,07,1.1,-1.52,M,-32.59,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.15 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193700.00,3650.93855,N,12153.61916,W,1,07,1.1,-1.68,M,-32.59,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.15 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.94 3.75 13.37 4.01 4.03 0 24708.02 05:07:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193701.00,3650.93875,N,12153.61956,W,1,07,1.1,-2.49,M,-32.59,M,,*7F : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193702.00,3650.93869,N,12153.62004,W,1,07,1.1,-2.59,M,-32.59,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.15 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193703.00,3650.93885,N,12153.62040,W,1,07,1.1,-2.70,M,-32.59,M,,*75 : BluefinBatt Reply: $b6q0 d- 32.01 2.50 12.69 3.92 4.04 0 9871.43 05:07:38 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.15 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193704.00,3650.93904,N,12153.62114,W,1,07,1.1,-2.96,M,-32.59,M,,*72 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193705.00,3650.93922,N,12153.62183,W,1,07,1.1,-2.79,M,-32.59,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.15 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.18 2.98 13.86 3.99 4.02 0 15905.79 05:07:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193706.00,3650.93937,N,12153.62224,W,1,07,1.1,-2.31,M,-32.59,M,,*7D : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.973333 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.15 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193707.00,3650.93923,N,12153.62240,W,1,07,1.1,-1.80,M,-32.59,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.15 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193708.00,3650.93951,N,12153.62274,W,1,07,1.1,-2.04,M,-32.59,M,,*70 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193709.00,3650.93951,N,12153.62312,W,1,07,1.1,-2.07,M,-32.59,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.15 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193710.00,3650.93958,N,12153.62351,W,1,07,1.1,-1.79,M,-32.59,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.15 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.98 2.78 13.28 4.00 4.01 0 24707.75 05:07:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193711.00,3650.93957,N,12153.62374,W,1,07,1.1,-2.17,M,-32.59,M,,*7D : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193712.00,3650.93945,N,12153.62406,W,1,07,1.1,-2.70,M,-32.59,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.15 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193713.00,3650.93950,N,12153.62473,W,1,07,1.1,-3.20,M,-32.59,M,,*7D : BluefinBatt Reply: $b6q0 d- 32.05 1.99 12.79 3.91 4.03 0 9871.19 05:07:48 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.15 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193714.00,3650.93921,N,12153.62516,W,1,07,1.1,-3.33,M,-32.59,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.15 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193715.00,3650.93916,N,12153.62621,W,1,07,1.1,-3.25,M,-32.59,M,,*79 : BluefinBatt Reply: $c0q0 d- 32.18 3.19 13.86 3.99 4.02 0 15905.61 05:07:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193716.00,3650.93874,N,12153.62661,W,1,07,1.1,-2.58,M,-32.59,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.15 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193717.00,3650.93885,N,12153.62704,W,1,07,1.1,-2.77,M,-32.59,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.15 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193718.00,3650.93857,N,12153.62709,W,1,07,1.1,-1.84,M,-32.59,M,,*72 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193719.00,3650.93822,N,12153.62746,W,1,07,1.1,-1.50,M,-32.59,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.15 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193720.00,3650.93778,N,12153.62769,W,1,07,1.1,-1.42,M,-32.59,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.15 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 32.02 2.18 13.28 4.00 4.01 0 24707.55 05:07:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193721.00,3650.93747,N,12153.62788,W,1,07,1.1,-2.01,M,-32.59,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.15 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193722.00,3650.93734,N,12153.62847,W,1,07,1.1,-2.41,M,-32.59,M,,*7E : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193723.00,,,,,0,04,1.8,,M,,M,,*66 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.05 1.62 12.69 3.91 4.03 0 9871.02 05:07:58 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.15 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193724.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.15 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193725.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.15 3.44 13.86 3.99 4.02 0 15905.24 05:08:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193726.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.15 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193727.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.15 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193728.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.15 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193729.00,,,,,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,193730.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on depth 2.173674 > 2.000000 at time 1206.397356 : LayeredControl::execute() -- (t = 1206.397356) Behavior descend:119927 has changed to state Finished : LayeredControl - sending BehaviorFinished:119927 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 : BluefinBatt Reply: $aaq0 d- 31.94 3.71 13.18 4.00 4.01 0 24707.24 05:08:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193731.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion waypoint_yoyo after pos 2 : DynoLayeredControl::insert - stack now contains 13 behaviors : Waypoint Initialization: Begin waypoint control at t= 1207.94 (wplog) The current location (N,E) = 4078682.0 , 598617.8 (wplog) The next waypoint = 4074898.0 , 598612.0 (wplog) The bearing to the next w.p. is 180.1 Degrees. : LayeredControl::execute() -- (t = 1207.947250) Behavior waypoint_yoyo:130985 has changed to state Active : LayeredControl - waypoint_yoyo BehaviorStarted:130985 msg to VcsServer : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193732.00,,,,,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,193733.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.01 2.64 12.69 3.91 4.03 0 9870.73 05:08:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193734.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193735.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.11 4.02 13.86 3.99 4.02 0 15904.96 05:08:10 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193736.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193737.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193738.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193739.00,,,,,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,193740.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.94 3.56 13.18 4.00 4.01 0 24707.00 05:08:15 m : AshtechGps::processRecord() - $GPGGA,193741.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193742.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193743.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.01 2.60 12.79 3.91 4.03 0 9870.49 05:08:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193744.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193745.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 4.24 13.96 3.99 4.02 0 15904.57 05:08:20 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193746.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193747.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193748.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193749.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193750.00,,,,,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: $aaq0 d- 31.94 3.44 13.37 3.99 4.01 0 24706.64 05:08:25 m : AshtechGps::processRecord() - $GPGGA,193751.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193752.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193753.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.97 2.78 12.69 3.91 4.03 0 9870.20 05:08:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193754.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193755.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.03 5.24 13.86 3.99 4.02 0 15904.32 05:08:30 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193756.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.963333 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193757.00,,,,,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,193758.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193759.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193800.00,,,,,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: $aaq0 d- 31.94 3.33 13.28 3.99 4.01 0 24706.40 05:08:35 m : AshtechGps::processRecord() - $GPGGA,193801.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193802.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193803.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.01 2.67 12.79 3.91 4.03 0 9870.00 05:08:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193804.00,,,,,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,193805.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.11 4.09 13.96 3.99 4.02 0 15903.95 05:08:40 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193806.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.963333 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193807.00,,,,,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,193808.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193809.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193810.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.94 3.48 13.37 3.99 4.01 0 24705.97 05:08:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193811.00,,,,,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,193812.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193813.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.01 2.60 12.79 3.91 4.03 0 9869.71 05:08:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193814.00,,,,,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,193815.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.11 3.73 13.96 3.99 4.02 0 15903.71 05:08:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193816.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.963333 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193817.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193818.00,,,,,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,193819.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193820.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.91 3.48 13.37 3.99 4.01 0 24705.73 05:08:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193821.00,,,,,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,193822.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193823.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.01 2.50 12.69 3.91 4.03 0 9869.51 05:08:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193824.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193825.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.15 3.34 13.96 3.99 4.02 0 15903.35 05:09:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193826.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.963333 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193827.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193828.00,,,,,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,193829.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193830.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.94 3.11 13.28 3.99 4.01 0 24705.39 05:09:05 m : AshtechGps::processRecord() - $GPGGA,193831.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193832.00,,,,,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,193833.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.01 2.75 12.79 3.91 4.03 0 9869.23 05:09:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193834.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193835.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.11 4.13 13.96 3.99 4.02 0 15903.11 05:09:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193836.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.963333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193837.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193838.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193839.00,,,,,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,193840.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.94 3.22 13.28 3.99 4.01 0 24705.16 05:09:15 m : AshtechGps::processRecord() - $GPGGA,193841.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193842.00,,,,,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,193843.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.01 2.75 12.79 3.91 4.03 0 9869.04 05:09:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193844.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193845.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.11 3.80 13.96 3.99 4.02 0 15902.75 05:09:20 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193846.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.963333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193847.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193848.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193849.00,,,,,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,193850.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.94 3.26 13.28 3.99 4.01 0 24704.80 05:09:25 m : AshtechGps::processRecord() - $GPGGA,193851.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193852.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193853.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.01 2.64 12.69 3.91 4.03 0 9868.76 05:09:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193854.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193855.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.11 3.73 13.96 3.99 4.02 0 15902.52 05:09:30 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193856.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.963333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193857.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193858.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193859.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193900.00,,,,,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: $aaq0 d- 31.94 3.26 13.37 3.99 4.01 0 24704.57 05:09:35 m : AshtechGps::processRecord() - $GPGGA,193901.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193902.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193903.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.97 2.82 12.79 3.91 4.03 0 9868.58 05:09:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193904.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193905.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 4.02 13.96 3.98 4.02 0 15902.15 05:09:40 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193906.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.960000 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193907.00,,,,,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,193908.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193909.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193910.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.91 3.37 13.37 3.99 4.01 0 24704.21 05:09:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193911.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193912.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193913.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.93 2.93 12.79 3.91 4.02 0 9868.29 05:09:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193914.00,,,,,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,193915.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.11 3.66 13.96 3.98 4.02 0 15901.92 05:09:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193916.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.960000 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193917.00,,,,,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,193918.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : DepthEnvelope -- Measured altitude 9.931132 under allowable altitude 10.000000. Stopping! : resetting depth trajectory : DepthEnvelope -- Measured altitude 9.931132 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.931132 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.931132 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193919.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.931132 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.931132 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.931132 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.931132 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.141545 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193920.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.141545 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.141545 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.141545 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.141545 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.141545 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 31.91 3.30 13.28 3.99 4.01 0 24703.97 05:09:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193921.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.141545 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.793153 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.793153 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.793153 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.793153 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193922.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.793153 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.793153 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.793153 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.111142 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.111142 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193923.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.111142 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.08 0.97 12.79 3.91 4.02 0 9868.10 05:09:58 m : DepthEnvelope -- Measured altitude 8.111142 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.111142 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.111142 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.111142 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193924.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.111142 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.367021 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.367021 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.367021 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.367021 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193925.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.367021 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.367021 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.22 1.29 14.06 4.00 4.03 0 15901.62 05:10:00 m : DepthEnvelope -- Measured altitude 7.367021 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.674442 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.674442 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193926.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.674442 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.674442 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : DepthEnvelope -- Measured altitude 6.674442 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.674442 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.674442 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193927.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.220615 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.220615 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.220615 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.220615 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.220615 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193928.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.220615 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.220615 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.220615 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.097815 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.097815 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193929.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.097815 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.097815 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.097815 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.097815 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.097815 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193930.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.997056 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.997056 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.997056 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.997056 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.997056 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 32.02 1.07 13.28 4.01 4.02 0 24703.80 05:10:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193931.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.997056 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.997056 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.074954 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.074954 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.074954 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193932.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.074954 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.074954 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.074954 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.074954 under allowable altitude 10.000000. Stopping! : Isus::select() timeout : DepthEnvelope -- Measured altitude 6.074954 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193933.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.291858 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.08 1.23 12.79 3.92 4.04 0 9867.98 05:10:08 m : DepthEnvelope -- Measured altitude 6.291858 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.291858 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.291858 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.291858 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193934.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.291858 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.291858 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.450489 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.450489 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.450489 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193935.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.450489 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.450489 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.22 1.14 14.06 4.00 4.03 0 15901.53 05:10:10 m : DepthEnvelope -- Measured altitude 6.450489 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.450489 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.702270 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193936.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.702270 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.702270 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.976667 : DepthEnvelope -- Measured altitude 6.702270 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.702270 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.702270 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193937.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.702270 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.702270 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.904208 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.904208 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.904208 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193938.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.904208 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.904208 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.904208 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.904208 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.022783 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193939.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.022783 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.022783 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.022783 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.022783 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.022783 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193940.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.022783 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.193393 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.193393 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.193393 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.193393 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 32.06 0.89 13.28 4.01 4.02 0 24703.71 05:10:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193941.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.193393 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.193393 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.193393 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.193393 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.360166 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193942.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.360166 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.360166 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.360166 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.360166 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.360166 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193943.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.360166 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.08 0.97 12.79 3.92 4.04 0 9867.89 05:10:18 m : DepthEnvelope -- Measured altitude 7.505277 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.505277 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.505277 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.505277 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193944.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.505277 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.505277 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.505277 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.505277 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.725891 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193945.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.725891 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.725891 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.22 1.36 13.96 4.00 4.03 0 15901.39 05:10:20 m : DepthEnvelope -- Measured altitude 7.725891 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.725891 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.725891 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193946.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.725891 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.989854 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.976667 : DepthEnvelope -- Measured altitude 7.989854 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.989854 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.989854 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193947.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.989854 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.989854 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.989854 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.996558 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.996558 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193948.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.996558 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.996558 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.996558 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.996558 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.996558 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193949.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.996558 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.097743 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.097743 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.097743 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.097743 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193950.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.097743 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.097743 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.097743 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.116860 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.116860 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 32.06 1.07 13.28 4.01 4.03 0 24703.59 05:10:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193951.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.116860 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.116860 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.116860 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.116860 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.116860 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193952.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.101338 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.101338 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.101338 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.101338 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.101338 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193953.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.101338 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $b6q0 d- 32.08 1.19 12.79 3.92 4.04 0 9867.76 05:10:28 m : DepthEnvelope -- Measured altitude 8.101338 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.101338 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.282022 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.282022 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193954.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.282022 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.282022 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.282022 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.282022 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.282022 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193955.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.300818 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.22 1.14 13.96 4.00 4.03 0 15901.29 05:10:30 m : DepthEnvelope -- Measured altitude 8.300818 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.300818 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.300818 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.300818 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193956.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.300818 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.976667 : DepthEnvelope -- Measured altitude 8.300818 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.446969 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.446969 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.446969 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193957.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.446969 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.446969 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.446969 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.446969 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.446969 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193958.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.540393 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.540393 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.540393 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.540393 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.540393 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193959.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.540393 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.540393 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.668489 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.668489 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.668489 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194000.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.668489 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.668489 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.668489 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.668489 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.952356 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 32.06 0.85 13.28 4.01 4.03 0 24703.51 05:10:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194001.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.952356 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.952356 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.952356 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.952356 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.952356 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194002.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.952356 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.952356 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.107570 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.107570 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.107570 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194003.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.107570 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.12 0.94 12.79 3.92 4.04 0 9867.70 05:10:38 m : DepthEnvelope -- Measured altitude 9.107570 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.107570 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.107570 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.429023 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194004.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.429023 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.429023 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.429023 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.429023 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.429023 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194005.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.429023 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.22 1.18 13.96 4.00 4.03 0 15901.17 05:10:40 m : DepthEnvelope -- Measured altitude 9.429023 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.724869 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.724869 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.724869 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194006.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.724869 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.976667 : DepthEnvelope -- Measured altitude 9.724869 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.724869 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.724869 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.871866 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194007.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.871866 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.871866 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.871866 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.871866 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.871866 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194008.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.871866 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- altitude 10.088250 over abort altitude 10.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194009.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194010.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.06 0.89 13.37 4.01 4.03 0 24703.40 05:10:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194011.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194012.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194013.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.05 1.99 12.79 3.92 4.04 0 9867.56 05:10:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194014.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194015.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.15 3.41 13.96 4.00 4.03 0 15901.04 05:10:50 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194016.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.976667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194017.00,,,,,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,194018.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194019.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194020.00,,,,,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: $aaq0 d- 31.91 3.33 13.37 4.01 4.03 0 24703.20 05:10:55 m : AshtechGps::processRecord() - $GPGGA,194021.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194022.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194023.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.97 3.11 12.79 3.92 4.04 0 9867.35 05:10:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194024.00,,,,,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,194025.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.11 4.02 13.96 3.98 4.01 0 15900.63 05:11:00 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194026.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.970000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194027.00,,,,,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,194028.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194029.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194030.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.94 3.30 13.28 3.99 4.01 0 24702.80 05:11:05 m : AshtechGps::processRecord() - $GPGGA,194031.00,,,,,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,194032.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194033.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.97 2.93 12.79 3.90 4.02 0 9867.03 05:11:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194034.00,,,,,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,194035.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.15 4.42 13.96 3.98 4.01 0 15900.33 05:11:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194036.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.956667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194037.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194038.00,,,,,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,194039.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194040.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.98 2.78 13.37 3.99 4.01 0 24702.57 05:11:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194041.00,,,,,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,194042.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194043.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.01 2.35 12.79 3.90 4.02 0 9866.84 05:11:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194044.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194045.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.15 3.34 13.96 3.99 4.02 0 15899.96 05:11:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194046.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.960000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194047.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194048.00,,,,,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,194049.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194050.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 32.02 2.70 13.28 4.00 4.01 0 24702.26 05:11:25 m : AshtechGps::processRecord() - $GPGGA,194051.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194052.00,,,,,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,194053.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.01 2.64 12.79 3.91 4.03 0 9866.55 05:11:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194054.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194055.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.11 3.44 13.96 3.99 4.02 0 15899.70 05:11:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194056.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194057.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194058.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194059.00,,,,,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,194100.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.94 3.30 13.28 4.00 4.01 0 24702.05 05:11:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194101.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194102.00,,,,,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,194103.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.01 2.46 12.79 3.91 4.03 0 9866.37 05:11:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194104.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194105.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.11 3.55 13.96 3.99 4.02 0 15899.29 05:11:40 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194106.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194107.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194108.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194109.00,,,,,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,194110.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.98 2.82 13.37 3.99 4.01 0 24701.71 05:11:45 m : AshtechGps::processRecord() - $GPGGA,194111.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194112.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194113.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.01 2.53 12.79 3.91 4.02 0 9866.10 05:11:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194114.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194115.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.11 3.70 13.96 3.99 4.02 0 15899.03 05:11:50 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194116.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.963333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194117.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194118.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194119.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194120.00,,,,,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: $aaq0 d- 31.94 2.92 13.18 3.99 4.01 0 24701.48 05:11:55 m : AshtechGps::processRecord() - $GPGGA,194121.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194122.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194123.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.97 2.57 12.79 3.91 4.02 0 9865.91 05:11:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194124.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194125.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 4.85 13.86 3.98 4.01 0 15898.67 05:12:00 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194126.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.960000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194127.00,,,,,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,194128.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194129.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194130.00,,,,,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: $aaq0 d- 31.94 2.74 13.28 3.99 4.01 0 24701.14 05:12:05 m : AshtechGps::processRecord() - $GPGGA,194131.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194132.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194133.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.01 2.35 12.79 3.91 4.03 0 9865.60 05:12:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194134.00,,,,,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,194135.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.11 3.23 13.86 3.98 4.01 0 15898.42 05:12:10 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194136.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.960000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194137.00,,,,,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,194138.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194139.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194140.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.94 2.70 13.18 3.99 4.01 0 24700.92 05:12:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194141.00,,,,,0,00,,,M,,M,,*40 : 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,194142.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194143.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.97 2.46 12.79 3.91 4.03 0 9865.42 05:12:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194144.00,,,,,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,194145.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.11 3.26 13.86 3.98 4.01 0 15898.08 05:12:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194146.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.960000 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194147.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194148.00,,,,,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,194149.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194150.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.91 3.22 13.18 3.99 4.01 0 24700.59 05:12:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194151.00,,,,,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,194152.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194153.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.97 2.60 12.79 3.90 4.02 0 9865.14 05:12:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194154.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194155.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 3.84 13.86 3.98 4.01 0 15897.83 05:12:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194156.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.956667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194157.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194158.00,,,,,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,194159.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194200.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.94 3.11 13.18 3.99 4.01 0 24700.35 05:12:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194201.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194202.00,,,,,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,194203.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.97 2.64 12.79 3.90 4.02 0 9864.90 05:12:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194204.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194205.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.11 4.60 13.86 3.98 4.01 0 15897.44 05:12:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194206.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.956667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194207.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194208.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194209.00,,,,,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,194210.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.91 3.22 13.28 3.99 4.01 0 24699.99 05:12:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194211.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194212.00,,,,,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,194213.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 31.93 2.75 12.69 3.90 4.02 0 9864.59 05:12:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194214.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194215.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 4.06 13.86 3.98 4.01 0 15897.18 05:12:50 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194216.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.956667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194217.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194218.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194219.00,,,,,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,194220.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.94 3.00 13.28 3.99 4.01 0 24699.76 05:12:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194221.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194222.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194223.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.97 2.71 12.69 3.90 4.02 0 9864.40 05:12:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194224.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194225.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.11 3.44 13.86 3.98 4.01 0 15896.75 05:13:00 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194226.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.956667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194227.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194228.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194229.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194230.00,,,,,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: $aaq0 d- 31.91 3.07 13.18 3.99 4.01 0 24699.38 05:13:05 m : AshtechGps::processRecord() - $GPGGA,194231.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194232.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194233.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.97 2.57 12.79 3.90 4.02 0 9864.10 05:13:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194234.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194235.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 3.80 13.86 3.98 4.01 0 15896.49 05:13:10 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194236.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.956667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194237.00,,,,,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,194238.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194239.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194240.00,,,,,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: $aaq0 d- 31.91 3.00 13.28 3.99 4.01 0 24699.15 05:13:15 m : AshtechGps::processRecord() - $GPGGA,194241.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194242.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194243.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.93 2.78 12.69 3.90 4.02 0 9863.89 05:13:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194244.00,,,,,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,194245.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.11 3.48 13.86 3.98 4.01 0 15896.09 05:13:20 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194246.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.956667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194247.00,,,,,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,194248.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194249.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194250.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.94 2.92 13.18 3.99 4.01 0 24698.81 05:13:25 m : AshtechGps::processRecord() - $GPGGA,194251.00,,,,,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,194252.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194253.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.97 2.71 12.69 3.90 4.02 0 9863.60 05:13:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194254.00,,,,,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,194255.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.11 3.52 13.96 3.98 4.01 0 15895.82 05:13:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194256.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.956667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194257.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194258.00,,,,,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,194259.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194300.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.94 2.92 13.18 3.99 4.01 0 24698.58 05:13:35 m : AshtechGps::processRecord() - $GPGGA,194301.00,,,,,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,194302.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194303.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.97 2.64 12.79 3.90 4.02 0 9863.41 05:13:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194304.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194305.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.11 3.70 13.96 3.98 4.01 0 15895.44 05:13:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194306.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.956667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194307.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194308.00,,,,,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,194309.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194310.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.94 2.92 13.37 3.99 4.01 0 24698.24 05:13:45 m : AshtechGps::processRecord() - $GPGGA,194311.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194312.00,,,,,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,194313.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.97 2.71 12.69 3.90 4.02 0 9863.12 05:13:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194314.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194315.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 3.44 13.96 3.98 4.01 0 15895.18 05:13:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194316.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.956667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194317.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194318.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194319.00,,,,,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,194320.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.94 2.96 13.37 3.99 4.01 0 24698.00 05:13:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194321.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194322.00,,,,,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,194323.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.97 2.57 12.69 3.90 4.02 0 9862.93 05:13:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194324.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194325.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 3.62 13.96 3.98 4.01 0 15894.80 05:14:00 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194326.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.956667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194327.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194328.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194329.00,,,,,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,194330.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.91 3.04 13.37 3.99 4.01 0 24697.65 05:14:05 m : AshtechGps::processRecord() - $GPGGA,194331.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194332.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.333616 under allowable altitude 10.000000. Stopping! : resetting depth trajectory : DepthEnvelope -- Measured altitude 9.333616 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.333616 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194333.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.333616 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.97 2.64 12.79 3.90 4.02 0 9862.64 05:14:08 m : DepthEnvelope -- Measured altitude 9.333616 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.333616 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.333616 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.898538 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194334.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.898538 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.898538 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.898538 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.898538 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.898538 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194335.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.898538 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.898538 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.15 2.62 13.96 3.98 4.01 0 15894.52 05:14:10 m : DepthEnvelope -- Measured altitude 8.500014 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.500014 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.500014 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194336.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.500014 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.500014 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.956667 : DepthEnvelope -- Measured altitude 8.500014 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.500014 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.842256 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194337.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.842256 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.842256 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.842256 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.842256 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.842256 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194338.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.842256 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.095476 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.095476 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.095476 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.095476 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194339.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.095476 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.095476 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.095476 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.095476 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.529077 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194340.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.529077 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.529077 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.529077 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.529077 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.529077 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.98 1.22 13.28 3.99 4.01 0 24697.50 05:14:15 m : AshtechGps::processRecord() - $GPGGA,194341.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.529077 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.862881 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.862881 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.862881 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.862881 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194342.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.862881 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.862881 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.862881 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.641026 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.641026 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194343.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.641026 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.05 0.94 12.79 3.90 4.02 0 9862.58 05:14:18 m : DepthEnvelope -- Measured altitude 5.641026 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.641026 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.641026 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.641026 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194344.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.641026 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.625054 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.625054 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.625054 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.625054 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194345.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.625054 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.18 1.54 13.96 4.00 4.03 0 15894.38 05:14:20 m : DepthEnvelope -- Measured altitude 5.625054 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.625054 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.621247 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.621247 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194346.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.621247 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.963333 : DepthEnvelope -- Measured altitude 5.621247 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.621247 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.621247 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.621247 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194347.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.899879 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.899879 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.899879 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.899879 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.899879 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194348.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.899879 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.899879 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.899879 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.101656 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.101656 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194349.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.101656 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.101656 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.101656 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.101656 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.101656 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194350.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.372579 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.372579 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.372579 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.372579 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.372579 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 32.02 0.85 13.37 4.00 4.02 0 24697.37 05:14:25 m : AshtechGps::processRecord() - $GPGGA,194351.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.372579 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.372579 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.372579 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.528042 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.528042 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194352.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.528042 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.528042 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.528042 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.528042 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.528042 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194353.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.664298 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.05 1.23 12.79 3.92 4.04 0 9862.47 05:14:28 m : DepthEnvelope -- Measured altitude 6.664298 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.664298 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.664298 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.664298 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194354.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.664298 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.664298 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.794993 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.794993 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.794993 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194355.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.794993 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.794993 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 32.18 1.43 13.96 4.00 4.03 0 15894.31 05:14:30 m : DepthEnvelope -- Measured altitude 6.794993 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.794993 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.794993 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194356.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.989550 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.989550 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.973333 : DepthEnvelope -- Measured altitude 6.989550 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.989550 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.989550 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194357.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.989550 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.989550 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.147157 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.147157 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.147157 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194358.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.147157 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.147157 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.147157 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.147157 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.406252 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194359.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.406252 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.406252 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.406252 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.406252 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.406252 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194400.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.406252 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.406252 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.535348 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.535348 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.535348 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 31.98 1.18 13.28 4.00 4.02 0 24697.28 05:14:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194401.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.535348 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.535348 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.535348 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.535348 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.614235 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194402.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.614235 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.614235 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.614235 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.614235 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.614235 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194403.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.614235 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.05 1.12 12.79 3.92 4.04 0 9862.38 05:14:38 m : DepthEnvelope -- Measured altitude 7.744535 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.744535 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.744535 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.744535 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194404.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.744535 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.744535 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.744535 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.744535 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.736400 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194405.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.736400 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 32.18 1.21 13.96 4.00 4.03 0 15894.18 05:14:40 m : DepthEnvelope -- Measured altitude 7.736400 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.736400 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.736400 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.736400 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194406.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.736400 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.973333 : DepthEnvelope -- Measured altitude 7.738931 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.738931 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.738931 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.738931 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194407.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.738931 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.738931 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.738931 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.820950 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.820950 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194408.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.820950 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.820950 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.820950 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.820950 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.820950 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194409.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.820950 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.864699 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.864699 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.864699 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.864699 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194410.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.864699 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.864699 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.864699 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.955705 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.955705 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 32.06 0.77 13.18 4.00 4.02 0 24697.17 05:14:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194411.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.955705 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.955705 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.955705 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.955705 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.955705 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194412.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.983167 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.983167 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.983167 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.983167 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.983167 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194413.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.983167 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.08 0.94 12.69 3.92 4.04 0 9862.28 05:14:48 m : DepthEnvelope -- Measured altitude 7.983167 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.983167 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.057656 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.057656 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194414.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.057656 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.057656 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.057656 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.057656 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.057656 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194415.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.330670 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.330670 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.22 1.14 13.96 4.00 4.03 0 15894.10 05:14:50 m : DepthEnvelope -- Measured altitude 8.330670 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.330670 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.330670 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194416.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.330670 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.330670 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.973333 : DepthEnvelope -- Measured altitude 8.675079 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.675079 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.675079 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194417.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.675079 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.675079 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.675079 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.675079 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.675079 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194418.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.796983 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.796983 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.796983 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.796983 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.796983 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194419.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.796983 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.796983 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.231483 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.231483 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.231483 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194420.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.231483 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.231483 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.231483 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.231483 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.231483 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 32.06 0.77 13.18 4.00 4.02 0 24697.10 05:14:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194421.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.322994 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.322994 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.322994 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.322994 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.322994 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194422.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.322994 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.322994 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.489368 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.489368 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.489368 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194423.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.489368 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.08 0.94 12.69 3.92 4.04 0 9862.22 05:14:58 m : DepthEnvelope -- Measured altitude 9.489368 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.489368 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.489368 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.605272 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194424.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.605272 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.605272 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.605272 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.605272 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.605272 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194425.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.605272 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.22 1.14 13.86 4.00 4.03 0 15893.98 05:15:00 m : DepthEnvelope -- Measured altitude 9.605272 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.738077 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.738077 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.738077 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194426.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.738077 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.973333 : DepthEnvelope -- Measured altitude 9.738077 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.738077 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.738077 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- altitude 10.019963 over abort altitude 10.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194427.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194428.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194429.00,,,,,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,194430.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.98 1.51 13.28 4.01 4.03 0 24697.01 05:15:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194431.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194432.00,,,,,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,194433.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.01 2.35 12.69 3.92 4.04 0 9862.08 05:15:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194434.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194435.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.11 3.55 13.86 4.00 4.03 0 15893.83 05:15:10 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194436.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.976667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194437.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194438.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194439.00,,,,,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,194440.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.91 3.48 13.18 4.01 4.03 0 24696.79 05:15:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194441.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194442.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194443.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.93 2.93 12.69 3.92 4.04 0 9861.87 05:15:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194444.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194445.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 4.16 13.86 3.98 4.01 0 15893.42 05:15:20 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194446.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.970000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194447.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194448.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194449.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194450.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.91 3.67 13.28 3.99 4.01 0 24696.41 05:15:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194451.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194452.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194453.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.97 2.64 12.69 3.90 4.02 0 9861.56 05:15:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194454.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194455.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.11 3.59 13.86 3.98 4.01 0 15893.16 05:15:30 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194456.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.956667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194457.00,,,,,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,194458.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194459.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194500.00,,,,,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: $aaq0 d- 31.91 2.70 13.18 3.99 4.01 0 24696.18 05:15:35 m : AshtechGps::processRecord() - $GPGGA,194501.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194502.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194503.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.97 2.42 12.69 3.90 4.02 0 9861.38 05:15:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194504.00,,,,,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,194505.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.11 3.37 13.86 3.98 4.01 0 15892.80 05:15:40 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194506.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.956667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194507.00,,,,,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,194508.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194509.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194510.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.94 2.82 13.18 3.99 4.01 0 24695.85 05:15:45 m : AshtechGps::processRecord() - $GPGGA,194511.00,,,,,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,194512.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194513.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.97 2.75 12.79 3.90 4.02 0 9861.08 05:15:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194514.00,,,,,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,194515.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.11 3.26 13.86 3.98 4.01 0 15892.54 05:15:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194516.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.956667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194517.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194518.00,,,,,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,194519.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194520.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.94 2.67 13.08 3.99 4.01 0 24695.62 05:15:55 m : AshtechGps::processRecord() - $GPGGA,194521.00,,,,,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,194522.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194523.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.97 2.57 12.69 3.90 4.02 0 9860.87 05:15:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194524.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194525.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.11 3.23 13.86 3.98 4.01 0 15892.19 05:16:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194526.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.956667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194527.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194528.00,,,,,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,194529.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194530.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.91 3.00 13.18 3.99 4.01 0 24695.27 05:16:05 m : AshtechGps::processRecord() - $GPGGA,194531.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194532.00,,,,,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,194533.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.97 2.42 12.69 3.91 4.02 0 9860.61 05:16:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194534.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194535.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.11 3.26 13.86 3.98 4.01 0 15891.95 05:16:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194536.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.960000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194537.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194538.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194539.00,,,,,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,194540.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.87 3.33 13.18 3.99 4.01 0 24695.03 05:16:15 m : AshtechGps::processRecord() - $GPGGA,194541.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194542.00,,,,,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,194543.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 31.97 2.53 12.79 3.91 4.02 0 9860.42 05:16:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194544.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194545.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.03 4.52 13.76 3.98 4.01 0 15891.57 05:16:20 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194546.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.960000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194547.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194548.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194549.00,,,,,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,194550.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.94 2.70 13.18 3.99 4.01 0 24694.72 05:16:25 m : AshtechGps::processRecord() - $GPGGA,194551.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194552.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194553.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.97 2.46 12.69 3.90 4.02 0 9860.15 05:16:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194554.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194555.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.11 3.26 13.76 3.98 4.01 0 15891.29 05:16:30 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194556.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.956667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194557.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194558.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194559.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194600.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.94 2.59 13.18 3.99 4.01 0 24694.50 05:16:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194601.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194602.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194603.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.97 2.42 12.69 3.90 4.02 0 9859.97 05:16:38 m : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194604.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194605.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 3.34 13.76 3.98 4.01 0 15890.93 05:16:40 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194606.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.956667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194607.00,,,,,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,194608.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194609.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194610.00,,,,,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: $aaq0 d- 31.91 3.19 13.18 3.99 4.01 0 24694.13 05:16:45 m : AshtechGps::processRecord() - $GPGGA,194611.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194612.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194613.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.93 2.82 12.69 3.90 4.02 0 9859.70 05:16:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194614.00,,,,,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,194615.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 3.59 13.76 3.98 4.01 0 15890.68 05:16:50 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194616.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.956667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194617.00,,,,,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,194618.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194619.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194620.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.91 3.04 13.08 3.99 4.01 0 24693.90 05:16:55 m : AshtechGps::processRecord() - $GPGGA,194621.00,,,,,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,194622.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194623.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.93 2.71 12.59 3.90 4.02 0 9859.49 05:16:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194624.00,,,,,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,194625.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.03 4.74 13.76 3.98 4.01 0 15890.29 05:17:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194626.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.956667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194627.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194628.00,,,,,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,194629.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194630.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.91 3.33 13.08 3.99 4.01 0 24693.55 05:17:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194631.00,,,,,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,194632.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194633.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.97 2.67 12.69 3.90 4.02 0 9859.20 05:17:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194634.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194635.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 4.13 13.76 3.98 4.01 0 15890.03 05:17:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194636.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.956667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194637.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194638.00,,,,,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,194639.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194640.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.91 3.00 13.08 3.99 4.01 0 24693.32 05:17:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194641.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194642.00,,,,,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,194643.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.93 2.60 12.69 3.90 4.02 0 9859.01 05:17:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194644.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194645.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 3.70 13.86 3.98 4.01 0 15889.64 05:17:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194646.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.956667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194647.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194648.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194649.00,,,,,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,194650.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.91 3.00 13.08 3.99 4.01 0 24692.97 05:17:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194651.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194652.00,,,,,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,194653.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 31.93 2.60 12.69 3.90 4.02 0 9858.67 05:17:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194654.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194655.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 3.55 13.86 3.98 4.01 0 15889.40 05:17:30 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194656.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.956667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194657.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194658.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194659.00,,,,,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,194700.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.91 3.22 13.08 3.99 4.01 0 24692.73 05:17:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194701.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194702.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194703.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.93 2.53 12.59 3.90 4.02 0 9858.48 05:17:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194704.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194705.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 3.84 13.86 3.98 4.01 0 15888.95 05:17:40 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194706.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.956667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194707.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194708.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194709.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194710.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.91 3.04 13.18 3.99 4.01 0 24692.38 05:17:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194711.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194712.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194713.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.93 2.75 12.69 3.89 4.02 0 9858.20 05:17:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194714.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194715.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 3.52 13.86 3.98 4.01 0 15888.70 05:17:50 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194716.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.953334 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194717.00,,,,,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,194718.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194719.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194720.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.91 3.15 13.18 3.99 4.01 0 24692.15 05:17:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194721.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194722.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194723.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.93 2.71 12.69 3.89 4.02 0 9858.00 05:17:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194724.00,,,,,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,194725.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.00 4.42 13.86 3.98 4.01 0 15888.31 05:18:00 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194726.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.953334 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194727.00,,,,,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,194728.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194729.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194730.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.91 2.96 13.18 3.98 4.00 0 24691.77 05:18:05 m : AshtechGps::processRecord() - $GPGGA,194731.00,,,,,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,194732.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194733.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.93 2.67 12.69 3.90 4.02 0 9857.70 05:18:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194734.00,,,,,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,194735.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.07 3.66 13.86 3.98 4.01 0 15888.05 05:18:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194736.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.953334 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194737.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194738.00,,,,,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,194739.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194740.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.87 3.52 13.18 3.98 4.00 0 24691.55 05:18:15 m : AshtechGps::processRecord() - $GPGGA,194741.00,,,,,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,194742.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194743.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.93 2.89 12.59 3.90 4.02 0 9857.49 05:18:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194744.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194745.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 3.55 13.86 3.98 4.01 0 15887.62 05:18:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194746.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.953334 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194747.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194748.00,,,,,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,194749.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194750.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.91 3.00 13.18 3.99 4.01 0 24691.17 05:18:25 m : AshtechGps::processRecord() - $GPGGA,194751.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194752.00,,,,,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,194753.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.93 2.75 12.69 3.89 4.01 0 9857.19 05:18:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194754.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194755.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 3.73 13.86 3.98 4.01 0 15887.38 05:18:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194756.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.953334 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194757.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194758.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.541790 under allowable altitude 10.000000. Stopping! : resetting depth trajectory : DepthEnvelope -- Measured altitude 9.541790 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.541790 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194759.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.541790 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.541790 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.541790 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.541790 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.022214 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194800.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.022214 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.022214 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.022214 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.022214 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.022214 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.91 3.11 13.08 3.99 4.01 0 24690.94 05:18:35 m : AshtechGps::processRecord() - $GPGGA,194801.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.022214 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.022214 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.636009 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.636009 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.636009 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194802.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.636009 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.636009 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.636009 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.636009 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.075688 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194803.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.075688 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $b6q0 d- 32.05 0.90 12.69 3.89 4.01 0 9856.99 05:18:38 m : DepthEnvelope -- Measured altitude 8.075688 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.075688 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.075688 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.075688 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194804.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.075688 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.298944 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.298944 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.298944 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.298944 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194805.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.298944 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.298944 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.15 1.65 13.86 3.99 4.02 0 15887.08 05:18:40 m : DepthEnvelope -- Measured altitude 7.298944 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.298944 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.539092 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194806.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.539092 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.539092 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.956667 : DepthEnvelope -- Measured altitude 6.539092 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.539092 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.539092 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194807.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.539092 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.028343 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.028343 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.028343 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.028343 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194808.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.028343 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.028343 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.028343 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.662657 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.662657 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194809.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.662657 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.662657 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.662657 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.662657 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.662657 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194810.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.662657 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.602504 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.602504 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.602504 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.602504 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.98 1.22 13.18 4.00 4.02 0 24690.77 05:18:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194811.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.602504 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.602504 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.602504 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.683598 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.683598 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194812.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.683598 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.683598 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.683598 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.683598 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.683598 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194813.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.05 0.97 12.59 3.91 4.03 0 9856.86 05:18:48 m : DepthEnvelope -- Measured altitude 5.683598 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.656104 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.656104 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.656104 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.656104 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194814.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.656104 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.656104 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.656104 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.903204 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.903204 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194815.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.903204 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.18 1.83 13.86 3.99 4.02 0 15886.97 05:18:50 m : DepthEnvelope -- Measured altitude 5.903204 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.903204 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.903204 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.903204 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194816.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.105302 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : DepthEnvelope -- Measured altitude 6.105302 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.105302 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.105302 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.105302 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194817.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.105302 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.105302 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.105302 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.335032 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.335032 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194818.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.335032 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.335032 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.335032 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.335032 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.335032 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194819.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.471314 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.471314 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.471314 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.471314 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.471314 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194820.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.471314 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.471314 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.638455 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.638455 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.638455 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 32.02 0.92 13.18 4.00 4.02 0 24690.71 05:18:55 m : AshtechGps::processRecord() - $GPGGA,194821.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.638455 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.638455 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.638455 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.638455 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.638455 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194822.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.743634 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.743634 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.743634 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.743634 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.743634 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194823.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.743634 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.05 1.26 12.59 3.91 4.03 0 9856.78 05:18:58 m : DepthEnvelope -- Measured altitude 6.743634 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.056554 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.056554 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.056554 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194824.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.056554 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.056554 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.056554 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.056554 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.174361 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194825.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.174361 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.174361 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.18 1.50 13.86 3.99 4.03 0 15886.81 05:19:00 m : DepthEnvelope -- Measured altitude 7.174361 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.174361 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.174361 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194826.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.174361 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.174361 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : DepthEnvelope -- Measured altitude 7.384278 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.384278 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.384278 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194827.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.384278 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.384278 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.384278 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.384278 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.292078 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194828.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.292078 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.292078 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.292078 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.292078 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.292078 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194829.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.292078 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.292078 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.473516 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.473516 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.473516 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194830.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.473516 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.473516 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.473516 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.473516 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.548000 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 32.02 1.11 13.18 4.00 4.02 0 24690.60 05:19:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194831.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.548000 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.548000 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.548000 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.548000 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.548000 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194832.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.548000 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.549217 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.549217 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.549217 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.549217 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194833.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.05 0.94 12.59 3.91 4.03 0 9856.67 05:19:08 m : DepthEnvelope -- Measured altitude 7.549217 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.549217 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.549217 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.549217 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.614140 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194834.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.614140 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.614140 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.614140 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.614140 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.614140 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194835.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.614140 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.18 1.18 13.86 3.99 4.03 0 15886.71 05:19:10 m : DepthEnvelope -- Measured altitude 7.639370 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.639370 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.639370 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.639370 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194836.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.639370 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : DepthEnvelope -- Measured altitude 7.639370 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.639370 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.720968 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.720968 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194837.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.720968 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.720968 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.720968 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.720968 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.720968 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194838.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.720968 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.743483 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.743483 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.743483 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.743483 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194839.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.743483 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.743483 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.743483 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.943759 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.943759 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194840.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.943759 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.943759 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.943759 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.943759 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.943759 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 32.02 1.00 13.18 4.00 4.02 0 24690.54 05:19:15 m : AshtechGps::processRecord() - $GPGGA,194841.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.150376 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.150376 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.150376 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.150376 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.150376 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194842.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.150376 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.150376 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.150376 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.456599 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.456599 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194843.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.456599 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.08 0.90 12.59 3.91 4.03 0 9856.60 05:19:18 m : DepthEnvelope -- Measured altitude 8.456599 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.456599 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.456599 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.456599 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194844.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.712124 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.712124 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.712124 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.712124 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.712124 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194845.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.712124 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.712124 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.18 1.68 13.86 4.00 4.03 0 15886.57 05:19:20 m : DepthEnvelope -- Measured altitude 8.920122 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.920122 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.920122 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194846.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.920122 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.920122 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.970000 : DepthEnvelope -- Measured altitude 8.920122 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.920122 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.920122 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194847.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.098462 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.098462 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.098462 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.098462 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.098462 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194848.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.098462 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.098462 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.237252 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.237252 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.237252 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194849.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.237252 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.237252 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.237252 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.237252 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.412270 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194850.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.412270 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.412270 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.412270 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.412270 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.412270 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.98 0.89 13.18 4.00 4.02 0 24690.45 05:19:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194851.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.412270 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.412270 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.512977 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.512977 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.512977 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194852.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.512977 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.512977 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.512977 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.512977 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.739248 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194853.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.739248 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.08 0.94 12.59 3.91 4.03 0 9856.49 05:19:28 m : DepthEnvelope -- Measured altitude 9.739248 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.739248 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.739248 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.739248 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194854.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.739248 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.739248 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.987770 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.987770 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.987770 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194855.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.987770 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.18 2.15 13.86 4.00 4.03 0 15886.48 05:19:30 m : DepthEnvelope -- Measured altitude 9.987770 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.987770 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.987770 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- altitude 10.184166 over abort altitude 10.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194856.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.970000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194857.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194858.00,,,,,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,194859.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194900.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.94 2.59 13.08 4.00 4.02 0 24690.38 05:19:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194901.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194902.00,,,,,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,194903.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.97 2.64 12.59 3.91 4.03 0 9856.39 05:19:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194904.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194905.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 3.91 13.86 3.98 4.01 0 15886.21 05:19:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194906.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.963333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194907.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194908.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194909.00,,,,,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,194910.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.87 4.08 13.18 3.99 4.01 0 24690.04 05:19:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194911.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194912.00,,,,,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,194913.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 31.93 2.96 12.59 3.90 4.02 0 9856.08 05:19:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194914.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194915.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 3.55 13.86 3.98 4.01 0 15885.94 05:19:50 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194916.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.956667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194917.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194918.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194919.00,,,,,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,194920.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.91 3.44 13.08 3.99 4.01 0 24689.80 05:19:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194921.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194922.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194923.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.93 2.78 12.59 3.90 4.02 0 9855.88 05:19:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194924.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194925.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 3.23 13.76 3.98 4.01 0 15885.54 05:20:00 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194926.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.956667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194927.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194928.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194929.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194930.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.91 3.07 13.08 3.99 4.01 0 24689.46 05:20:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194931.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194932.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194933.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.89 2.64 12.59 3.90 4.02 0 9855.60 05:20:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194934.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194935.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 3.12 13.76 3.98 4.01 0 15885.31 05:20:10 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194936.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.956667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194937.00,,,,,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,194938.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194939.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194940.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.91 3.22 13.18 3.99 4.01 0 24689.24 05:20:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194941.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194942.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194943.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.93 2.64 12.59 3.90 4.02 0 9855.41 05:20:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194944.00,,,,,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,194945.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 3.23 13.76 3.98 4.01 0 15884.95 05:20:20 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194946.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.956667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194947.00,,,,,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,194948.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194949.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194950.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.91 3.07 13.08 3.99 4.01 0 24688.91 05:20:25 m : AshtechGps::processRecord() - $GPGGA,194951.00,,,,,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,194952.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194953.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.93 2.28 12.59 3.90 4.02 0 9855.11 05:20:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194954.00,,,,,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,194955.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.07 3.08 13.76 3.98 4.01 0 15884.71 05:20:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194956.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.956667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194957.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194958.00,,,,,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,194959.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195000.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.91 3.04 12.98 3.99 4.01 0 24688.71 05:20:35 m : AshtechGps::processRecord() - $GPGGA,195001.00,,,,,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,195002.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195003.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.93 2.50 12.59 3.90 4.02 0 9854.92 05:20:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195004.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195005.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.11 3.08 13.76 3.98 4.01 0 15884.34 05:20:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195006.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.956667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195007.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195008.00,,,,,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,195009.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195010.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.91 3.15 12.98 3.99 4.01 0 24688.39 05:20:45 m : AshtechGps::processRecord() - $GPGGA,195011.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195012.00,,,,,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,195013.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.93 2.67 12.59 3.90 4.02 0 9854.65 05:20:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195014.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195015.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.11 3.01 13.67 3.98 4.01 0 15884.10 05:20:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195016.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.956667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195017.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195018.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195019.00,,,,,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,195020.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.87 3.26 12.98 3.99 4.01 0 24688.18 05:20:55 m : AshtechGps::processRecord() - $GPGGA,195021.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195022.00,,,,,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,195023.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 31.89 3.07 12.59 3.90 4.02 0 9854.47 05:20:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195024.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195025.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 3.01 13.67 3.98 4.01 0 15883.73 05:21:00 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195026.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.956667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195027.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195028.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195029.00,,,,,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,195030.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.87 3.15 12.98 3.99 4.01 0 24687.86 05:21:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195031.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195032.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195033.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.97 2.46 12.59 3.89 4.02 0 9854.20 05:21:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195034.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195035.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 3.05 13.67 3.98 4.01 0 15883.48 05:21:10 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195036.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.953334 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195037.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195038.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195039.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195040.00,,,,,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: $aaq0 d- 31.87 3.44 12.98 3.99 4.01 0 24687.64 05:21:15 m : AshtechGps::processRecord() - $GPGGA,195041.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195042.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195043.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.93 2.71 12.50 3.89 4.02 0 9854.02 05:21:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195044.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195045.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.03 4.02 13.67 3.98 4.01 0 15883.10 05:21:20 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195046.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.953334 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195047.00,,,,,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,195048.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195049.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195050.00,,,,,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: $aaq0 d- 31.87 3.56 12.98 3.98 4.00 0 24687.23 05:21:25 m : AshtechGps::processRecord() - $GPGGA,195051.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195052.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195053.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.93 2.78 12.50 3.89 4.02 0 9853.70 05:21:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195054.00,,,,,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,195055.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.07 3.19 13.67 3.98 4.01 0 15882.83 05:21:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195056.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.950000 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195057.00,,,,,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,195058.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195059.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195100.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.87 3.44 12.98 3.98 4.00 0 24686.99 05:21:35 m : AshtechGps::processRecord() - $GPGGA,195101.00,,,,,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,195102.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195103.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.89 2.82 12.50 3.89 4.02 0 9853.51 05:21:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195104.00,,,,,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,195105.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.07 3.34 13.67 3.98 4.01 0 15882.45 05:21:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195106.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.950000 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195107.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195108.00,,,,,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,195109.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195110.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.87 3.63 12.98 3.99 4.01 0 24686.66 05:21:45 m : AshtechGps::processRecord() - $GPGGA,195111.00,,,,,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,195112.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195113.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.89 2.93 12.50 3.89 4.01 0 9853.22 05:21:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195114.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195115.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 3.26 13.67 3.98 4.01 0 15882.14 05:21:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195116.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.953334 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195117.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195118.00,,,,,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,195119.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195120.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.87 3.44 12.98 3.99 4.01 0 24686.43 05:21:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195121.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195122.00,,,,,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,195123.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.93 2.64 12.50 3.89 4.01 0 9853.02 05:21:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195124.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195125.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.03 3.73 13.67 3.98 4.01 0 15881.74 05:22:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195126.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.953334 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195127.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195128.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195129.00,,,,,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,195130.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.87 3.75 12.98 3.99 4.01 0 24686.04 05:22:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195131.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195132.00,,,,,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,195133.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 31.93 2.86 12.50 3.90 4.02 0 9852.73 05:22:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195134.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195135.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 3.26 13.76 3.98 4.01 0 15881.49 05:22:10 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195136.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.956667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195137.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195138.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195139.00,,,,,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,195140.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.87 3.15 12.98 3.99 4.01 0 24685.80 05:22:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195141.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195142.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195143.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.93 2.75 12.50 3.90 4.02 0 9852.54 05:22:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195144.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195145.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 3.41 13.76 3.98 4.01 0 15881.10 05:22:20 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195146.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.956667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195147.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195148.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195149.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195150.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.87 3.15 13.08 3.98 4.01 0 24685.46 05:22:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195151.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195152.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195153.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.89 2.89 12.50 3.89 4.02 0 9852.25 05:22:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195154.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195155.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 3.26 13.76 3.98 4.01 0 15880.82 05:22:30 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195156.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.950000 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195157.00,,,,,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,195158.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195159.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195200.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.87 3.15 12.98 3.98 4.01 0 24685.18 05:22:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195201.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195202.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195203.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.93 2.96 12.59 3.89 4.02 0 9852.06 05:22:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195204.00,,,,,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,195205.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.07 3.26 13.86 3.98 4.01 0 15880.44 05:22:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195206.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.950000 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195207.00,,,,,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,195208.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195209.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195210.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.83 3.19 13.08 3.98 4.01 0 24684.85 05:22:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195211.00,,,,,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,195212.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195213.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.89 2.75 12.59 3.89 4.02 0 9851.75 05:22:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195214.00,,,,,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,195215.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.03 3.23 13.76 3.98 4.01 0 15880.18 05:22:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195216.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.950000 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195217.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195218.00,,,,,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,195219.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195220.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.87 3.15 12.98 3.98 4.01 0 24684.62 05:22:55 m : AshtechGps::processRecord() - $GPGGA,195221.00,,,,,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,195222.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195223.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.93 2.64 12.59 3.89 4.02 0 9851.56 05:22:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195224.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195225.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 3.37 13.76 3.98 4.01 0 15879.77 05:23:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195226.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.950000 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195227.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195228.00,,,,,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,195229.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195230.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.87 3.26 13.08 3.98 4.00 0 24684.28 05:23:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195231.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195232.00,,,,,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,195233.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.93 2.60 12.50 3.89 4.01 0 9851.26 05:23:08 m : DepthEnvelope -- Measured altitude 9.616531 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : resetting depth trajectory : DepthEnvelope -- Measured altitude 9.616531 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.616531 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.616531 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195234.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.616531 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.616531 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.616531 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.616531 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.130866 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195235.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.130866 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.03 3.19 13.76 3.98 4.01 0 15879.52 05:23:10 m : DepthEnvelope -- Measured altitude 9.130866 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.130866 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.130866 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.130866 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195236.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.130866 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.950000 : DepthEnvelope -- Measured altitude 8.632738 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.632738 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.632738 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.632738 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195237.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.632738 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.632738 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.632738 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.127545 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.127545 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195238.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.127545 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.127545 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.127545 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.127545 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.127545 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195239.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.127545 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.538108 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.538108 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.538108 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.538108 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195240.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.538108 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.538108 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.538108 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.892156 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.892156 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.98 1.07 13.08 3.98 4.00 0 24684.11 05:23:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195241.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.892156 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.892156 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.892156 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.892156 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.892156 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195242.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.210227 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.210227 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.210227 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.210227 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.210227 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195243.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.01 1.15 12.50 3.89 4.01 0 9851.14 05:23:18 m : DepthEnvelope -- Measured altitude 6.210227 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.210227 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.210227 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.867969 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.867969 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195244.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.867969 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.867969 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.867969 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.867969 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.867969 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195245.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.668337 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.18 1.11 13.76 3.99 4.02 0 15879.33 05:23:20 m : DepthEnvelope -- Measured altitude 5.668337 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.668337 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.668337 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.668337 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195246.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.668337 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.953333 : DepthEnvelope -- Measured altitude 5.668337 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.638795 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.638795 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.638795 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195247.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.638795 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.638795 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.638795 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.638795 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.638795 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195248.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.872260 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.872260 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.872260 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.872260 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.872260 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195249.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.872260 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.872260 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.925077 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.925077 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.925077 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195250.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.925077 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.925077 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.925077 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.925077 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.192807 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 32.02 0.81 13.18 4.00 4.02 0 24684.01 05:23:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195251.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.192807 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.192807 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.192807 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.192807 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.192807 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195252.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.192807 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.192807 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.633477 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.633477 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.633477 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195253.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.01 1.05 12.50 3.91 4.03 0 9851.04 05:23:28 m : DepthEnvelope -- Measured altitude 6.633477 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.633477 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.633477 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.633477 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.703162 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195254.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.703162 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.703162 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.703162 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.703162 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.703162 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195255.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.703162 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.15 1.68 13.76 3.99 4.02 0 15879.23 05:23:30 m : DepthEnvelope -- Measured altitude 6.887598 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.887598 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.887598 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.887598 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195256.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.887598 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : DepthEnvelope -- Measured altitude 6.887598 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.887598 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.887598 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.050211 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195257.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.050211 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.050211 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.050211 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.050211 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.050211 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195258.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.050211 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.207342 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.207342 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.207342 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.207342 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195259.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.207342 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.207342 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.207342 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.207342 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.493088 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195300.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.493088 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.493088 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.493088 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.493088 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.493088 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.98 1.07 13.18 4.00 4.02 0 24683.94 05:23:35 m : AshtechGps::processRecord() - $GPGGA,195301.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.493088 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.566858 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.566858 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.566858 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.566858 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195302.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.566858 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.566858 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.566858 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.779817 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.779817 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195303.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.779817 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.05 1.23 12.50 3.91 4.03 0 9850.98 05:23:38 m : DepthEnvelope -- Measured altitude 7.779817 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.779817 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.779817 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.779817 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195304.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.779817 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.904055 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.904055 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.904055 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.904055 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195305.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.904055 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.904055 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.18 1.11 13.67 3.99 4.02 0 15879.09 05:23:40 m : DepthEnvelope -- Measured altitude 7.904055 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.866087 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.866087 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195306.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.866087 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.866087 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : DepthEnvelope -- Measured altitude 7.866087 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.866087 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.866087 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195307.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.799297 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.799297 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.799297 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.799297 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.799297 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195308.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.799297 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.799297 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.799297 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.852229 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.852229 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195309.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.852229 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.852229 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.852229 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.852229 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.852229 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195310.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.859289 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.859289 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.859289 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.859289 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.859289 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.98 0.77 12.98 4.00 4.02 0 24683.84 05:23:45 m : AshtechGps::processRecord() - $GPGGA,195311.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.859289 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.859289 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.859289 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.845086 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.845086 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195312.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.845086 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.845086 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.845086 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.845086 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.845086 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195313.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.950500 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.05 0.94 12.50 3.91 4.03 0 9850.88 05:23:48 m : DepthEnvelope -- Measured altitude 7.950500 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.950500 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.950500 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.950500 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195314.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.950500 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.950500 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.080594 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.080594 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.080594 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195315.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.080594 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.18 1.18 13.67 3.99 4.02 0 15879.01 05:23:50 m : DepthEnvelope -- Measured altitude 8.080594 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.080594 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.080594 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.080594 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195316.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.202278 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : DepthEnvelope -- Measured altitude 8.202278 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.202278 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.202278 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.202278 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195317.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.202278 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.202278 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.481561 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.481561 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.481561 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195318.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.481561 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.481561 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.481561 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.481561 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.672439 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195319.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.672439 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.672439 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.672439 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.672439 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.672439 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195320.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.672439 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.672439 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.941698 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.941698 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.941698 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 32.02 0.81 12.98 4.00 4.02 0 24683.78 05:23:55 m : AshtechGps::processRecord() - $GPGGA,195321.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.941698 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.941698 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.941698 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.941698 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.300284 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195322.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.300284 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.300284 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.300284 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.300284 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.300284 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195323.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.300284 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.05 1.01 12.40 3.91 4.03 0 9850.81 05:23:58 m : DepthEnvelope -- Measured altitude 9.337303 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.337303 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.337303 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.337303 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195324.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.337303 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.337303 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.337303 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.337303 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.680782 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195325.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.680782 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.680782 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.18 1.14 13.67 3.99 4.02 0 15878.88 05:24:00 m : DepthEnvelope -- Measured altitude 9.680782 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.680782 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.680782 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195326.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.680782 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.865069 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : DepthEnvelope -- Measured altitude 9.865069 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.865069 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.865069 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195327.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.865069 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.865069 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.865069 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.966897 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.966897 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195328.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.966897 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.966897 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.966897 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.966897 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.966897 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195329.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.966897 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- altitude 10.209410 over abort altitude 10.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195330.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.98 0.85 12.98 4.00 4.02 0 24683.69 05:24:05 m : AshtechGps::processRecord() - $GPGGA,195331.00,,,,,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,195332.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195333.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.01 1.44 12.40 3.91 4.03 0 9850.71 05:24:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195334.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195335.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.11 3.01 13.67 3.99 4.02 0 15878.78 05:24:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195336.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195337.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195338.00,,,,,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,195339.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195340.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.91 3.44 12.98 4.00 4.02 0 24683.52 05:24:15 m : AshtechGps::processRecord() - $GPGGA,195341.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195342.00,,,,,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,195343.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.93 2.86 12.40 3.91 4.03 0 9850.52 05:24:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195344.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195345.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.03 3.91 13.67 3.97 4.00 0 15878.36 05:24:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195346.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.960000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195347.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195348.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195349.00,,,,,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,195350.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.87 3.44 12.98 3.98 4.00 0 24683.15 05:24:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195351.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195352.00,,,,,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,195353.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 31.93 2.50 12.40 3.89 4.01 0 9850.20 05:24:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195354.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195355.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 3.59 13.67 3.97 4.00 0 15878.08 05:24:30 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195356.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195357.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195358.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195359.00,,,,,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,195400.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.83 3.85 12.89 3.98 4.00 0 24682.94 05:24:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195401.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195402.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195403.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.93 2.35 12.40 3.89 4.01 0 9850.01 05:24:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195404.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195405.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 3.59 13.67 3.98 4.01 0 15877.71 05:24:40 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195406.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.950000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195407.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195408.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195409.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195410.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.87 3.33 12.98 3.98 4.01 0 24682.64 05:24:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195411.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195412.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195413.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.93 2.31 12.40 3.90 4.02 0 9849.73 05:24:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195414.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195415.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 3.19 13.67 3.98 4.01 0 15877.44 05:24:50 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195416.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.953334 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195417.00,,,,,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,195418.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195419.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195420.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.83 3.19 12.98 3.98 4.01 0 24682.45 05:24:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195421.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195422.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195423.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.97 2.35 12.40 3.90 4.02 0 9849.54 05:24:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195424.00,,,,,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,195425.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 2.98 13.67 3.98 4.01 0 15877.04 05:25:00 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195426.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.953334 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195427.00,,,,,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,195428.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195429.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195430.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.87 2.92 12.79 3.99 4.01 0 24682.17 05:25:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195431.00,,,,,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,195432.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195433.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.93 2.28 12.40 3.89 4.02 0 9849.25 05:25:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195434.00,,,,,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,195435.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.03 3.26 13.57 3.98 4.01 0 15876.80 05:25:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195436.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.953334 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195437.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195438.00,,,,,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,195439.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195440.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.87 3.00 12.98 3.99 4.01 0 24681.98 05:25:15 m : AshtechGps::processRecord() - $GPGGA,195441.00,,,,,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,195442.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195443.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.93 2.24 12.40 3.89 4.02 0 9849.07 05:25:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195444.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195445.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 3.48 13.57 3.97 4.01 0 15876.42 05:25:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195446.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.950000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195447.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195448.00,,,,,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,195449.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195450.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.87 3.41 12.79 3.98 4.01 0 24681.66 05:25:25 m : AshtechGps::processRecord() - $GPGGA,195451.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195452.00,,,,,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,195453.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.93 2.35 12.40 3.89 4.02 0 9848.80 05:25:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195454.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195455.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.03 3.44 13.57 3.97 4.01 0 15876.17 05:25:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195456.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195457.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195458.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195459.00,,,,,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,195500.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.83 3.59 12.79 3.98 4.01 0 24681.45 05:25:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195501.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195502.00,,,,,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,195503.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.93 2.39 12.40 3.89 4.02 0 9848.61 05:25:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195504.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195505.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 3.08 13.57 3.98 4.01 0 15875.78 05:25:40 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195506.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.950000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195507.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195508.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195509.00,,,,,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,195510.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.87 3.00 12.98 3.98 4.00 0 24681.17 05:25:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195511.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195512.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195513.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.93 2.21 12.40 3.89 4.01 0 9848.34 05:25:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195514.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195515.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.03 3.55 13.47 3.98 4.01 0 15875.49 05:25:50 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195516.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.950000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195517.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195518.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195519.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195520.00,,,,,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: $aaq0 d- 31.87 3.22 12.79 3.98 4.00 0 24680.97 05:25:55 m : AshtechGps::processRecord() - $GPGGA,195521.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195522.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195523.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.93 2.46 12.40 3.89 4.01 0 9848.15 05:25:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195524.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195525.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.03 3.52 13.47 3.97 4.00 0 15875.07 05:26:00 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195526.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195527.00,,,,,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,195528.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195529.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195530.00,,,,,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: $aaq0 d- 31.87 4.08 12.79 3.98 4.00 0 24680.64 05:26:05 m : AshtechGps::processRecord() - $GPGGA,195531.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195532.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195533.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.93 2.39 12.40 3.89 4.01 0 9847.86 05:26:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195534.00,,,,,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,195535.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.03 3.66 13.47 3.97 4.00 0 15874.79 05:26:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195536.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195537.00,,,,,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,195538.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195539.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195540.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.83 3.37 12.79 3.98 4.00 0 24680.43 05:26:15 m : AshtechGps::processRecord() - $GPGGA,195541.00,,,,,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,195542.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195543.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.93 2.42 12.40 3.89 4.01 0 9847.66 05:26:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195544.00,,,,,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,195545.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.03 3.80 13.57 3.97 4.01 0 15874.39 05:26:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195546.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195547.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195548.00,,,,,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,195549.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195550.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.83 3.75 12.98 3.98 4.00 0 24680.11 05:26:25 m : AshtechGps::processRecord() - $GPGGA,195551.00,,,,,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,195552.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195553.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.89 2.50 12.40 3.89 4.01 0 9847.38 05:26:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195554.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195555.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.00 4.99 13.57 3.97 4.01 0 15874.10 05:26:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195556.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195557.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195558.00,,,,,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,195559.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195600.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.83 3.37 12.98 3.98 4.00 0 24679.89 05:26:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195601.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195602.00,,,,,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,195603.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.93 2.35 12.40 3.89 4.01 0 9847.19 05:26:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195604.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195605.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.03 3.30 13.67 3.97 4.01 0 15873.69 05:26:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195606.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195607.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195608.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195609.00,,,,,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,195610.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.83 3.26 12.79 3.98 4.00 0 24679.58 05:26:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195611.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195612.00,,,,,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,195613.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 31.93 2.50 12.40 3.89 4.01 0 9846.87 05:26:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195614.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195615.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.03 3.37 13.67 3.97 4.01 0 15873.43 05:26:50 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195616.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195617.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195618.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195619.00,,,,,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,195620.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.83 3.22 12.98 3.98 4.00 0 24679.38 05:26:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195621.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195622.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195623.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.93 2.53 12.40 3.89 4.01 0 9846.67 05:26:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195624.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195625.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.03 4.24 13.67 3.97 4.01 0 15872.98 05:27:00 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195626.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195627.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195628.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195629.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195630.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.87 3.37 12.98 3.98 4.00 0 24679.06 05:27:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195631.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195632.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195633.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.93 2.50 12.40 3.89 4.01 0 9846.40 05:27:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195634.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195635.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.03 3.77 13.67 3.97 4.01 0 15872.67 05:27:10 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195636.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195637.00,,,,,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,195638.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195639.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195640.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.87 3.48 12.98 3.98 4.00 0 24678.85 05:27:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195641.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195642.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195643.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.89 2.39 12.40 3.89 4.01 0 9846.21 05:27:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195644.00,,,,,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,195645.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.00 3.91 13.67 3.97 4.00 0 15872.26 05:27:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195646.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195647.00,,,,,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,195648.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195649.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195650.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.87 3.33 12.98 3.98 4.00 0 24678.53 05:27:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195651.00,,,,,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,195652.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195653.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.89 2.46 12.40 3.89 4.01 0 9845.90 05:27:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195654.00,,,,,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,195655.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.03 3.30 13.67 3.97 4.00 0 15872.00 05:27:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195656.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195657.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195658.00,,,,,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,195659.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195700.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.83 3.07 12.98 3.98 4.00 0 24678.32 05:27:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195701.00,,,,,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,195702.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195703.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.93 2.50 12.40 3.89 4.01 0 9845.70 05:27:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195704.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195705.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.03 3.66 13.67 3.97 4.01 0 15871.59 05:27:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195706.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195707.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195708.00,,,,,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,195709.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195710.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.83 3.22 12.98 3.98 4.00 0 24678.00 05:27:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195711.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195712.00,,,,,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,195713.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.89 2.42 12.40 3.89 4.01 0 9845.41 05:27:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195714.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.606584 under allowable altitude 10.000000. Stopping! : resetting depth trajectory : DepthEnvelope -- Measured altitude 9.606584 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.606584 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.606584 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.606584 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195715.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.606584 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.03 3.23 13.67 3.97 4.01 0 15871.32 05:27:50 m : DepthEnvelope -- Measured altitude 9.606584 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.091735 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.091735 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.091735 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195716.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.091735 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : DepthEnvelope -- Measured altitude 9.091735 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.091735 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.091735 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.091735 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195717.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.544979 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.544979 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.544979 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.544979 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.544979 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195718.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.544979 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.544979 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.013220 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.013220 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.013220 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195719.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.013220 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.013220 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.013220 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.013220 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.370474 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195720.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.370474 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.370474 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.370474 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.370474 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.370474 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.91 1.22 12.98 3.98 4.00 0 24677.79 05:27:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195721.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.370474 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.370474 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.490080 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.490080 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.490080 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195722.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.490080 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.490080 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.490080 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.490080 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.900991 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195723.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.01 1.01 12.40 3.89 4.01 0 9845.27 05:27:58 m : DepthEnvelope -- Measured altitude 5.900991 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.900991 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.900991 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.900991 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.900991 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195724.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.900991 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.649750 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.649750 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.649750 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.649750 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195725.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.649750 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.15 1.14 13.67 3.99 4.02 0 15871.09 05:28:00 m : DepthEnvelope -- Measured altitude 5.649750 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.649750 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.649750 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.483199 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195726.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.483199 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.953333 : DepthEnvelope -- Measured altitude 5.483199 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.483199 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.483199 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.483199 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195727.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.483199 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.546971 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.546971 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.546971 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.546971 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195728.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.546971 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.546971 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.546971 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.738700 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.738700 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195729.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.738700 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.738700 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.738700 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.738700 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.738700 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195730.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.738700 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.962883 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.962883 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.962883 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.962883 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : BluefinBatt Reply: $aaq0 d- 31.94 0.92 12.98 4.00 4.01 0 24677.68 05:28:05 m : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195731.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.962883 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.962883 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.962883 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.415440 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.415440 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195732.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.415440 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.415440 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.415440 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.415440 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.415440 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195733.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.609159 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.05 0.94 12.40 3.91 4.03 0 9845.17 05:28:08 m : DepthEnvelope -- Measured altitude 6.609159 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.609159 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.609159 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.609159 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195734.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.609159 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.609159 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.609159 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.730628 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.730628 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195735.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.730628 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.15 1.79 13.67 3.99 4.02 0 15871.01 05:28:10 m : DepthEnvelope -- Measured altitude 6.730628 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.730628 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.730628 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.730628 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195736.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.829829 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : DepthEnvelope -- Measured altitude 6.829829 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.829829 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.829829 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.829829 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195737.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.829829 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.829829 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.061014 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.061014 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.061014 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195738.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.061014 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.061014 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.061014 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.061014 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.061014 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195739.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.175823 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.175823 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.175823 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.175823 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.175823 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195740.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.175823 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.175823 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.453357 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.453357 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.453357 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.98 1.18 12.98 4.00 4.01 0 24677.62 05:28:15 m : AshtechGps::processRecord() - $GPGGA,195741.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.453357 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.453357 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.453357 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.453357 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.453357 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195742.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.594295 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.594295 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.594295 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.594295 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.594295 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195743.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.594295 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.01 1.05 12.40 3.91 4.03 0 9845.10 05:28:18 m : DepthEnvelope -- Measured altitude 7.594295 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.800487 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.800487 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.800487 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195744.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.800487 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.800487 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.800487 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.800487 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.882466 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195745.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.882466 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.882466 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.15 1.14 13.67 3.99 4.02 0 15870.89 05:28:20 m : DepthEnvelope -- Measured altitude 7.882466 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.882466 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.882466 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195746.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.882466 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.882466 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : DepthEnvelope -- Measured altitude 7.927736 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.927736 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.927736 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195747.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.927736 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.927736 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.927736 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.927736 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.902715 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195748.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.902715 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.902715 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.902715 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.902715 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.902715 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195749.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.902715 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.818081 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.818081 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.818081 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.818081 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195750.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.818081 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.818081 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.818081 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.818081 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.897751 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.98 0.81 12.98 4.00 4.01 0 24677.52 05:28:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195751.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.897751 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.897751 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.897751 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.897751 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.897751 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195752.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.897751 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.842044 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.842044 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.842044 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.842044 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195753.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.05 0.90 12.40 3.91 4.03 0 9845.01 05:28:28 m : DepthEnvelope -- Measured altitude 7.842044 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.842044 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.842044 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.011129 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.011129 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195754.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.011129 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.011129 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.011129 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.011129 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.011129 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195755.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.011129 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.15 1.11 13.57 3.99 4.02 0 15870.81 05:28:30 m : DepthEnvelope -- Measured altitude 8.110391 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.110391 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.110391 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.110391 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195756.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.110391 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : DepthEnvelope -- Measured altitude 8.110391 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.110391 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.294003 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.294003 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195757.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.294003 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.294003 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.294003 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.294003 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.294003 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195758.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.636576 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.636576 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.636576 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.636576 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.636576 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195759.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.636576 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.636576 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.636576 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.824487 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.824487 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195800.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.824487 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.824487 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.824487 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.824487 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.824487 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 32.02 0.92 12.98 4.00 4.01 0 24677.46 05:28:35 m : AshtechGps::processRecord() - $GPGGA,195801.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.028540 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.028540 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.028540 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.028540 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.028540 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195802.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.028540 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.028540 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.028540 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.146067 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.146067 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195803.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.146067 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.05 0.94 12.40 3.91 4.03 0 9844.92 05:28:38 m : DepthEnvelope -- Measured altitude 9.146067 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.146067 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.146067 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.146067 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195804.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.432446 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.432446 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.432446 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.432446 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.432446 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195805.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.432446 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 32.18 1.86 13.57 3.99 4.02 0 15870.69 05:28:40 m : DepthEnvelope -- Measured altitude 9.432446 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.559962 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.559962 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.559962 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195806.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.559962 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : DepthEnvelope -- Measured altitude 9.559962 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.559962 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.559962 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.559962 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195807.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.765779 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.765779 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.765779 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.765779 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.765779 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195808.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.765779 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.765779 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- altitude 10.128983 over abort altitude 10.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195809.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195810.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.98 0.85 12.98 4.00 4.01 0 24677.37 05:28:45 m : AshtechGps::processRecord() - $GPGGA,195811.00,,,,,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,195812.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195813.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.97 1.91 12.30 3.91 4.03 0 9844.80 05:28:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195814.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195815.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 3.44 13.57 3.99 4.02 0 15870.56 05:28:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195816.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.966666 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195817.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195818.00,,,,,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,195819.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195820.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.83 3.82 12.98 4.00 4.01 0 24677.19 05:28:55 m : AshtechGps::processRecord() - $GPGGA,195821.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195822.00,,,,,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,195823.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.85 3.18 12.30 3.91 4.03 0 9844.60 05:28:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195824.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195825.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.03 3.84 13.57 3.97 4.00 0 15870.15 05:29:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195826.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.960000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195827.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195828.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195829.00,,,,,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,195830.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.87 3.37 12.89 3.98 4.00 0 24676.78 05:29:05 m : AshtechGps::processRecord() - $GPGGA,195831.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195832.00,,,,,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,195833.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 31.93 2.64 12.30 3.89 4.01 0 9844.27 05:29:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195834.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195835.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 3.19 13.57 3.97 4.00 0 15869.87 05:29:10 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195836.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195837.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195838.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195839.00,,,,,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,195840.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.87 3.07 12.89 3.98 4.00 0 24676.57 05:29:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195841.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195842.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195843.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.89 2.42 12.30 3.89 4.01 0 9844.07 05:29:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195844.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195845.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 3.08 13.57 3.98 4.01 0 15869.51 05:29:20 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195846.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.950000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195847.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195848.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195849.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195850.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.87 3.00 12.98 3.98 4.00 0 24676.25 05:29:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195851.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195852.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195853.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.85 2.86 12.30 3.89 4.01 0 9843.81 05:29:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195854.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195855.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.03 2.94 13.47 3.98 4.01 0 15869.24 05:29:30 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195856.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.950000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195857.00,,,,,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,195858.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195859.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195900.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.83 2.92 12.79 3.98 4.00 0 24676.02 05:29:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195901.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195902.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195903.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.89 2.57 12.30 3.89 4.01 0 9843.63 05:29:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195904.00,,,,,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,195905.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.03 3.08 13.47 3.98 4.01 0 15868.88 05:29:40 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195906.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.950000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195907.00,,,,,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,195908.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195909.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195910.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.87 2.92 12.79 3.98 4.00 0 24675.71 05:29:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195911.00,,,,,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,195912.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195913.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.93 2.42 12.30 3.89 4.01 0 9843.33 05:29:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195914.00,,,,,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,195915.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.03 3.26 13.47 3.98 4.01 0 15868.65 05:29:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195916.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.950000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195917.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195918.00,,,,,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,195919.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195920.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.87 3.04 12.79 3.98 4.00 0 24675.52 05:29:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195921.00,,,,,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,195922.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195923.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.93 2.28 12.30 3.89 4.01 0 9843.16 05:29:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195924.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195925.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.03 2.98 13.47 3.97 4.01 0 15868.28 05:30:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195926.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195927.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195928.00,,,,,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,195929.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195930.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.87 2.92 12.79 3.98 4.00 0 24675.20 05:30:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195931.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195932.00,,,,,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,195933.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.85 2.67 12.30 3.89 4.01 0 9842.89 05:30:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195934.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195935.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.03 3.16 13.47 3.97 4.01 0 15868.04 05:30:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195936.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195937.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195938.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195939.00,,,,,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,195940.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.87 3.04 12.79 3.98 4.00 0 24674.98 05:30:15 m : AshtechGps::processRecord() - $GPGGA,195941.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195942.00,,,,,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,195943.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 31.82 3.22 12.30 3.89 4.01 0 9842.71 05:30:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195944.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195945.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.03 3.12 13.47 3.97 4.01 0 15867.68 05:30:20 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195946.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195947.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195948.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195949.00,,,,,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,195950.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.83 3.26 12.79 3.98 4.00 0 24674.66 05:30:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195951.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195952.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195953.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.89 2.60 12.30 3.89 4.01 0 9842.41 05:30:28 m : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195954.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195955.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.03 3.30 13.47 3.97 4.01 0 15867.43 05:30:30 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195956.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195957.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195958.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195959.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200000.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.87 3.30 12.79 3.98 4.00 0 24674.44 05:30:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200001.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200002.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200003.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.89 2.57 12.30 3.89 4.01 0 9842.23 05:30:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200004.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200005.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.92 5.10 13.47 3.97 4.00 0 15867.05 05:30:40 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200006.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200007.00,,,,,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,200008.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200009.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200010.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.83 3.44 12.79 3.98 4.00 0 24674.10 05:30:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200011.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200012.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200013.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.89 2.60 12.20 3.89 4.01 0 9841.95 05:30:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200014.00,,,,,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,200015.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.03 3.66 13.47 3.97 4.00 0 15866.79 05:30:50 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200016.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200017.00,,,,,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,200018.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200019.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200020.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.83 3.37 12.79 3.98 4.00 0 24673.87 05:30:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200021.00,,,,,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,200022.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200023.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.85 2.67 12.30 3.89 4.01 0 9841.76 05:30:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200024.00,,,,,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,200025.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.03 3.44 13.47 3.97 4.00 0 15866.42 05:31:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200026.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200027.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200028.00,,,,,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,200029.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200030.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.83 3.22 12.79 3.98 4.00 0 24673.53 05:31:05 m : AshtechGps::processRecord() - $GPGGA,200031.00,,,,,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,200032.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200033.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.85 2.86 12.30 3.89 4.01 0 9841.48 05:31:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200034.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200035.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.03 3.26 13.47 3.97 4.00 0 15866.17 05:31:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200036.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200037.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200038.00,,,,,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,200039.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200040.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.79 3.67 12.69 3.98 4.00 0 24673.27 05:31:15 m : AshtechGps::processRecord() - $GPGGA,200041.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200042.00,,,,,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,200043.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.85 2.71 12.20 3.89 4.01 0 9841.25 05:31:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200044.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200045.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.03 3.26 13.47 3.97 4.00 0 15865.78 05:31:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200046.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200047.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200048.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200049.00,,,,,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,200050.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.83 3.56 12.89 3.98 4.00 0 24672.94 05:31:25 m : AshtechGps::processRecord() - $GPGGA,200051.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200052.00,,,,,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,200053.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 31.85 2.60 12.30 3.89 4.01 0 9840.95 05:31:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200054.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200055.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.00 3.77 13.47 3.97 4.00 0 15865.52 05:31:30 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200056.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200057.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200058.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200059.00,,,,,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,200100.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.87 3.30 12.79 3.98 4.00 0 24672.71 05:31:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200101.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200102.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200103.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.85 2.78 12.30 3.89 4.01 0 9840.76 05:31:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200104.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200105.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.03 3.37 13.57 3.97 4.00 0 15865.14 05:31:40 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200106.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200107.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200108.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200109.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200110.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.87 3.30 12.89 3.98 4.00 0 24672.36 05:31:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200111.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200112.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200113.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.89 2.78 12.30 3.89 4.01 0 9840.47 05:31:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200114.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200115.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.03 3.26 13.57 3.97 4.00 0 15864.89 05:31:50 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200116.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200117.00,,,,,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,200118.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200119.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200120.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.87 3.33 12.79 3.98 4.00 0 24672.14 05:31:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200121.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200122.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200123.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.89 2.60 12.30 3.89 4.01 0 9840.27 05:31:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200124.00,,,,,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,200125.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.03 3.41 13.57 3.97 4.00 0 15864.50 05:32:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200126.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200127.00,,,,,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,200128.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200129.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200130.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.83 3.37 12.98 3.98 4.00 0 24671.81 05:32:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200131.00,,,,,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,200132.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200133.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.85 2.57 12.30 3.89 4.01 0 9839.99 05:32:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200134.00,,,,,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,200135.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.00 3.41 13.57 3.97 4.00 0 15864.24 05:32:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200136.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200137.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200138.00,,,,,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,200139.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200140.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.83 3.48 12.89 3.98 4.00 0 24671.60 05:32:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200141.00,,,,,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,200142.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200143.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.85 2.64 12.30 3.89 4.01 0 9839.80 05:32:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200144.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200145.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.00 3.41 13.47 3.97 4.00 0 15863.86 05:32:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200146.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200147.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200148.00,,,,,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,200149.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200150.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.83 3.30 12.89 3.98 4.00 0 24671.26 05:32:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200151.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200152.00,,,,,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,200153.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.89 2.64 12.30 3.89 4.01 0 9839.48 05:32:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200154.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200155.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.00 3.37 13.57 3.97 4.00 0 15863.61 05:32:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200156.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200157.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200158.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200159.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.749333 under allowable altitude 10.000000. Stopping! : resetting depth trajectory : DepthEnvelope -- Measured altitude 9.749333 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.749333 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.749333 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200200.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.749333 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.749333 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.749333 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.084040 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.084040 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.83 3.33 12.98 3.98 4.00 0 24671.03 05:32:35 m : AshtechGps::processRecord() - $GPGGA,200201.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.084040 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.084040 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.084040 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.084040 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.084040 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200202.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.084040 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.609301 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.609301 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.609301 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.609301 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200203.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.609301 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $b6q0 d- 31.97 1.88 12.30 3.89 4.01 0 9839.27 05:32:38 m : DepthEnvelope -- Measured altitude 8.609301 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.609301 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.122028 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.122028 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200204.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.122028 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.122028 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.122028 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.122028 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.122028 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200205.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.499320 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.11 1.29 13.57 3.98 4.01 0 15863.32 05:32:40 m : DepthEnvelope -- Measured altitude 7.499320 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.499320 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.499320 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.499320 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200206.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.499320 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.950000 : DepthEnvelope -- Measured altitude 7.499320 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.499320 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.801291 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.801291 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200207.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.801291 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.801291 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.801291 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.801291 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.801291 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200208.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.040231 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.040231 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.040231 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.040231 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.040231 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200209.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.040231 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.040231 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.762001 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.762001 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.762001 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200210.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.762001 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.762001 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.762001 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.762001 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.762001 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.91 1.26 12.89 3.99 4.01 0 24670.85 05:32:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200211.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.649872 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.649872 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.649872 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.649872 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.649872 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200212.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.649872 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.649872 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.611251 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.611251 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.611251 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200213.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.01 1.08 12.30 3.91 4.03 0 9839.15 05:32:48 m : DepthEnvelope -- Measured altitude 5.611251 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.611251 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.611251 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.611251 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.800016 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200214.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.800016 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.800016 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.800016 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.800016 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.800016 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200215.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.800016 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.11 1.29 13.57 3.98 4.01 0 15863.21 05:32:50 m : DepthEnvelope -- Measured altitude 5.800016 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.063917 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.063917 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.063917 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200216.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.063917 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.960000 : DepthEnvelope -- Measured altitude 6.063917 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.063917 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.063917 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.349920 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200217.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.349920 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.349920 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.349920 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.349920 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.349920 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200218.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.349920 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.349920 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.561144 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.561144 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.561144 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200219.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.561144 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.561144 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.561144 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.561144 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.735751 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200220.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.735751 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.735751 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.735751 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.735751 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.735751 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.94 0.77 12.98 3.99 4.01 0 24670.76 05:32:55 m : AshtechGps::processRecord() - $GPGGA,200221.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.735751 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.775339 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.775339 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.775339 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.775339 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200222.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.775339 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.775339 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.775339 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.775339 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.993757 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200223.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.993757 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.01 0.90 12.30 3.91 4.03 0 9839.06 05:32:58 m : DepthEnvelope -- Measured altitude 6.993757 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.993757 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.993757 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.993757 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200224.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.993757 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.197737 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.197737 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.197737 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.197737 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200225.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.197737 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.11 1.54 13.57 3.99 4.02 0 15863.08 05:33:00 m : DepthEnvelope -- Measured altitude 7.197737 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.197737 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.474408 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.474408 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200226.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.474408 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.963333 : DepthEnvelope -- Measured altitude 7.474408 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.474408 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.474408 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.474408 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200227.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.474408 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.721541 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.721541 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.721541 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.721541 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200228.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.721541 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.721541 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.721541 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.674362 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.674362 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200229.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.674362 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.674362 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.674362 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.674362 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.674362 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200230.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.710632 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.710632 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.710632 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.710632 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.710632 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.91 1.07 12.79 3.99 4.01 0 24670.64 05:33:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200231.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.710632 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.710632 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.710632 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.832061 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.832061 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200232.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.832061 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.832061 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.832061 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.832061 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.832061 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200233.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.01 1.05 12.30 3.91 4.03 0 9838.93 05:33:08 m : DepthEnvelope -- Measured altitude 7.937372 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.937372 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.937372 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.937372 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.937372 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200234.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.937372 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.937372 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.937372 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.954365 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.954365 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200235.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.954365 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.11 1.18 13.47 3.99 4.02 0 15862.98 05:33:10 m : DepthEnvelope -- Measured altitude 7.954365 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.954365 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.954365 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.954365 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200236.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.904427 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.963333 : DepthEnvelope -- Measured altitude 7.904427 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.904427 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.904427 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.904427 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200237.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.904427 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.904427 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.958598 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.958598 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.958598 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200238.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.958598 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.958598 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.958598 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.958598 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.958598 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200239.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.969533 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.969533 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.969533 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.969533 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.969533 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200240.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.969533 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.969533 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.033480 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.033480 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.033480 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.91 0.85 12.79 3.99 4.01 0 24670.57 05:33:15 m : AshtechGps::processRecord() - $GPGGA,200241.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.033480 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.033480 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.033480 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.033480 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.275783 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200242.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.275783 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.275783 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.275783 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.275783 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.275783 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200243.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.275783 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.01 0.86 12.20 3.91 4.03 0 9838.86 05:33:18 m : DepthEnvelope -- Measured altitude 8.275783 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.472969 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.472969 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.472969 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200244.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.472969 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.472969 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.472969 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.472969 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.712916 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200245.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.712916 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.712916 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.15 1.11 13.47 3.99 4.02 0 15862.85 05:33:20 m : DepthEnvelope -- Measured altitude 8.712916 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.712916 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.712916 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200246.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.712916 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.906405 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.963333 : DepthEnvelope -- Measured altitude 8.906405 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.906405 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.906405 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200247.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.906405 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.906405 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.906405 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.906405 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.207668 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200248.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.207668 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.207668 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.207668 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.207668 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.207668 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200249.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.207668 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.272865 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.272865 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.272865 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.272865 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200250.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.272865 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.272865 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.272865 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.544779 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.544779 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.94 0.81 12.89 3.99 4.01 0 24670.48 05:33:25 m : AshtechGps::processRecord() - $GPGGA,200251.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.544779 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.544779 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.544779 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.544779 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.544779 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200252.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.544779 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.671962 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.671962 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.671962 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.671962 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200253.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.671962 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.01 1.41 12.20 3.91 4.03 0 9838.77 05:33:28 m : DepthEnvelope -- Measured altitude 9.671962 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.671962 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.957801 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.957801 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200254.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.957801 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.957801 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.957801 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.957801 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.957801 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200255.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- altitude 10.042221 over abort altitude 10.000000, starting prop! : BluefinBatt Reply: $c0q0 d- 32.15 1.14 13.47 3.99 4.02 0 15862.76 05:33:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200256.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.963333 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200257.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200258.00,,,,,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,200259.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200300.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.83 2.59 12.89 3.99 4.01 0 24670.41 05:33:35 m : AshtechGps::processRecord() - $GPGGA,200301.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200302.00,,,,,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,200303.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.89 2.78 12.30 3.91 4.03 0 9838.66 05:33:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200304.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200305.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.03 3.80 13.47 3.97 4.00 0 15862.49 05:33:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200306.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.956667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200307.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200308.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200309.00,,,,,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,200310.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.79 3.78 12.69 3.98 4.00 0 24670.08 05:33:45 m : AshtechGps::processRecord() - $GPGGA,200311.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200312.00,,,,,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,200313.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 31.89 2.75 12.20 3.89 4.01 0 9838.34 05:33:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200314.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200315.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.00 3.66 13.47 3.97 4.00 0 15862.21 05:33:50 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200316.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200317.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200318.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200319.00,,,,,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,200320.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.83 3.15 12.69 3.98 4.00 0 24669.86 05:33:55 m : AshtechGps::processRecord() - $GPGGA,200321.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200322.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200323.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.89 2.46 12.20 3.89 4.01 0 9838.14 05:33:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200324.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200325.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.00 3.52 13.47 3.97 4.00 0 15861.79 05:34:00 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200326.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200327.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200328.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200329.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200330.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.87 3.00 12.79 3.98 4.00 0 24669.56 05:34:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200331.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion FireTheGulperAMC after pos 2 : StatePublisher: Updating state vector : DynoLayeredControl::insert - stack now contains 14 behaviors : The FireTheGulperAMC Behavior has executed. FIRING THE GULPER NOW. : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl::execute() -- (t = 2768.350355) Behavior FireTheGulperAMC:524919 has changed to state Active : LayeredControl - FireTheGulperAMC BehaviorStarted:524919 msg to VcsServer : AshtechGps::processRecord() - $GPGGA,200332.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Gulper::fireGulper - cmd is $081Fff : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200333.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.89 2.42 12.20 3.89 4.01 0 9837.87 05:34:08 m : LayeredControl::execute() -- (t = 2770.000242) Behavior FireTheGulperAMC:524919 has changed to state Finished : LayeredControl - sending BehaviorFinished:524919 msg to VcsServer : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200334.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200335.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.03 3.44 13.47 3.97 4.00 0 15861.56 05:34:10 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200336.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynoLayeredControlServer insertBehaves : 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 = 2772.540068) Behavior FireTheGulperAMC:524888 has changed to state Active : LayeredControl - FireTheGulperAMC BehaviorStarted:524888 msg to VcsServer : Gulper::fireGulper - cmd is $091Fff : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200337.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl::execute() -- (t = 2774.199954) Behavior FireTheGulperAMC:524888 has changed to state Finished : LayeredControl - sending BehaviorFinished:524888 msg to VcsServer : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200338.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200339.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200340.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.83 3.19 12.79 3.98 4.00 0 24669.35 05:34:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200341.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200342.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200343.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.89 2.28 12.20 3.89 4.01 0 9837.69 05:34:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200344.00,,,,,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,200345.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.03 3.19 13.47 3.97 4.00 0 15861.17 05:34:20 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200346.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200347.00,,,,,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,200348.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200349.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200350.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.83 2.78 12.79 3.98 4.00 0 24669.07 05:34:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200351.00,,,,,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,200352.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200353.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.89 2.35 12.20 3.89 4.01 0 9837.42 05:34:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200354.00,,,,,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,200355.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.03 3.19 13.37 3.97 4.00 0 15860.90 05:34:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200356.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200357.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200358.00,,,,,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,200359.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200400.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.83 3.19 12.79 3.98 4.00 0 24668.87 05:34:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200401.00,,,,,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,200402.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200403.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.89 2.35 12.20 3.89 4.01 0 9837.24 05:34:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200404.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200405.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.03 3.37 13.37 3.97 4.00 0 15860.53 05:34:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200406.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200407.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200408.00,,,,,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,200409.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200410.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.83 3.00 12.79 3.98 4.00 0 24668.58 05:34:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200411.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200412.00,,,,,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,200413.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.89 2.28 12.20 3.89 4.01 0 9836.97 05:34:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200414.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200415.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.03 3.23 13.37 3.97 4.00 0 15860.29 05:34:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200416.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200417.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200418.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200419.00,,,,,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,200420.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.83 4.19 12.69 3.98 4.00 0 24668.39 05:34:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200421.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200422.00,,,,,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,200423.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 31.89 2.42 12.20 3.89 4.01 0 9836.79 05:34:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200424.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200425.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.00 3.37 13.37 3.97 4.00 0 15859.92 05:35:00 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200426.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200427.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200428.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200429.00,,,,,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,200430.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.83 3.00 12.69 3.98 4.00 0 24668.09 05:35:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200431.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200432.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200433.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.89 2.39 12.30 3.89 4.01 0 9836.53 05:35:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200434.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200435.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.03 3.37 13.37 3.97 4.00 0 15859.68 05:35:10 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200436.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200437.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200438.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200439.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200440.00,,,,,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: $aaq0 d- 31.83 3.15 12.69 3.98 4.00 0 24667.85 05:35:15 m : AshtechGps::processRecord() - $GPGGA,200441.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200442.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200443.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.82 2.89 12.20 3.89 4.01 0 9836.34 05:35:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200444.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200445.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.03 3.23 13.28 3.97 4.00 0 15859.29 05:35:20 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200446.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200447.00,,,,,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,200448.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200449.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200450.00,,,,,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: $aaq0 d- 31.83 3.22 12.69 3.98 4.00 0 24667.55 05:35:25 m : AshtechGps::processRecord() - $GPGGA,200451.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200452.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200453.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.85 2.42 12.20 3.89 4.01 0 9836.07 05:35:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200454.00,,,,,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,200455.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 31.96 3.80 13.28 3.97 4.00 0 15859.03 05:35:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200456.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200457.00,,,,,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,200458.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200459.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200500.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.79 3.71 12.69 3.98 4.00 0 24667.33 05:35:35 m : AshtechGps::processRecord() - $GPGGA,200501.00,,,,,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,200502.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200503.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.85 2.57 12.20 3.89 4.01 0 9835.87 05:35:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200504.00,,,,,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,200505.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 31.92 5.28 13.37 3.97 4.00 0 15858.62 05:35:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200506.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200507.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200508.00,,,,,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,200509.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200510.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.79 3.56 12.69 3.97 4.00 0 24666.97 05:35:45 m : AshtechGps::processRecord() - $GPGGA,200511.00,,,,,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,200512.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200513.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.85 2.46 12.20 3.89 4.01 0 9835.57 05:35:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200514.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200515.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.00 3.52 13.37 3.97 4.00 0 15858.33 05:35:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200516.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.943333 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200517.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200518.00,,,,,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,200519.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200520.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.79 3.41 12.69 3.97 4.00 0 24666.75 05:35:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200521.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200522.00,,,,,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,200523.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.85 2.57 12.20 3.89 4.01 0 9835.38 05:35:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200524.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200525.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.00 3.55 13.37 3.97 4.00 0 15857.93 05:36:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200526.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.943333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200527.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200528.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200529.00,,,,,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,200530.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.79 3.30 12.69 3.98 4.00 0 24666.43 05:36:05 m : AshtechGps::processRecord() - $GPGGA,200531.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200532.00,,,,,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,200533.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 31.85 2.42 12.20 3.89 4.01 0 9835.09 05:36:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200534.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200535.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.00 3.37 13.47 3.97 4.00 0 15857.66 05:36:10 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200536.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200537.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200538.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200539.00,,,,,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,200540.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.75 3.75 12.79 3.98 4.00 0 24666.23 05:36:15 m : AshtechGps::processRecord() - $GPGGA,200541.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200542.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200543.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.85 2.53 12.20 3.89 4.01 0 9834.90 05:36:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200544.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200545.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.00 3.41 13.47 3.97 4.00 0 15857.24 05:36:20 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200546.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200547.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200548.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200549.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200550.00,,,,,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: $aaq0 d- 31.79 3.63 12.79 3.98 4.00 0 24665.91 05:36:25 m : AshtechGps::processRecord() - $GPGGA,200551.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200552.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200553.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.85 2.53 12.20 3.89 4.01 0 9834.61 05:36:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200554.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200555.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.96 3.34 13.47 3.97 4.00 0 15856.97 05:36:30 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200556.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200557.00,,,,,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,200558.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200559.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200600.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.79 3.11 12.79 3.98 4.00 0 24665.69 05:36:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200601.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200602.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200603.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.85 2.50 12.20 3.89 4.01 0 9834.42 05:36:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200604.00,,,,,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,200605.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.00 3.41 13.47 3.96 4.00 0 15856.56 05:36:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200606.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.943333 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200607.00,,,,,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,200608.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200609.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200610.00,,,,,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=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.79 3.19 12.69 3.98 4.00 0 24665.37 05:36:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200611.00,,,,,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,200612.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200613.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.85 2.46 12.20 3.89 4.01 0 9834.11 05:36:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200614.00,,,,,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,200615.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 31.96 3.48 13.47 3.96 4.00 0 15856.31 05:36:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200616.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.943333 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200617.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200618.00,,,,,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,200619.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200620.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.79 3.82 12.79 3.98 4.00 0 24665.16 05:36:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200621.00,,,,,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,200622.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200623.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.85 2.50 12.20 3.89 4.01 0 9833.92 05:36:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200624.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200625.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.00 3.34 13.47 3.96 4.00 0 15855.92 05:37:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200626.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.943333 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200627.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200628.00,,,,,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,200629.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200630.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.79 3.22 12.69 3.98 4.00 0 24664.84 05:37:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200631.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200632.00,,,,,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,200633.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.85 2.57 12.20 3.89 4.01 0 9833.64 05:37:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200634.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200635.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.00 3.26 13.47 3.96 4.00 0 15855.66 05:37:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200636.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.943333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200637.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200638.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200639.00,,,,,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,200640.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.79 3.48 12.79 3.98 4.00 0 24664.63 05:37:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200641.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200642.00,,,,,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,200643.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 31.85 2.60 12.20 3.89 4.01 0 9833.44 05:37:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200644.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200645.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.92 3.88 13.47 3.96 4.00 0 15855.26 05:37:20 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200646.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.943333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200647.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200648.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200649.00,,,,,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,200650.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.79 3.07 12.89 3.98 4.00 0 24664.31 05:37:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200651.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200652.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.943971 under allowable altitude 10.000000. Stopping! : resetting depth trajectory : DepthEnvelope -- Measured altitude 9.943971 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.943971 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.943971 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.943971 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200653.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.85 2.50 12.20 3.89 4.01 0 9833.14 05:37:28 m : DepthEnvelope -- Measured altitude 9.943971 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.943971 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.441460 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.441460 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.441460 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200654.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.441460 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.441460 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.441460 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.441460 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.883860 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200655.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.883860 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.00 3.19 13.47 3.96 4.00 0 15854.99 05:37:30 m : DepthEnvelope -- Measured altitude 8.883860 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.883860 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.883860 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.883860 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200656.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.883860 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.943333 : DepthEnvelope -- Measured altitude 8.883860 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.449656 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.449656 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.449656 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200657.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.449656 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.449656 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.449656 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.449656 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.718154 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200658.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.718154 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.718154 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.718154 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.718154 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.718154 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200659.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.718154 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.718154 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.028227 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.028227 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.028227 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200700.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.028227 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.028227 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.028227 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.028227 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.359031 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.91 0.85 12.89 3.98 4.00 0 24664.18 05:37:35 m : AshtechGps::processRecord() - $GPGGA,200701.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.359031 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.359031 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.359031 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.359031 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.359031 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200702.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.359031 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.963077 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.963077 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.963077 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.963077 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200703.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.963077 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.93 0.94 12.20 3.89 4.01 0 9833.06 05:37:38 m : DepthEnvelope -- Measured altitude 5.963077 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.963077 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.963077 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.793409 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200704.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.793409 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.793409 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.793409 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.793409 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.793409 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200705.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.793409 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.895211 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.07 1.36 13.47 3.98 4.01 0 15854.84 05:37:40 m : DepthEnvelope -- Measured altitude 5.895211 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.895211 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.895211 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200706.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.895211 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.895211 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.950000 : DepthEnvelope -- Measured altitude 5.895211 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.882269 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.882269 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200707.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.882269 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.882269 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.882269 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.882269 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.882269 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200708.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.882269 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.178242 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.178242 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.178242 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.178242 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200709.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.178242 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.178242 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.178242 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.498697 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.498697 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200710.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.498697 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.498697 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.498697 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.498697 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.498697 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.87 1.29 12.89 3.99 4.01 0 24664.06 05:37:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200711.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.675209 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.675209 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.675209 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.675209 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.675209 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200712.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.675209 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.675209 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.675209 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.990459 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.990459 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200713.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.990459 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.97 1.05 12.20 3.90 4.02 0 9832.94 05:37:48 m : DepthEnvelope -- Measured altitude 6.990459 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.990459 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.990459 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.990459 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200714.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.118644 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.118644 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.118644 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.118644 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.118644 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200715.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.118644 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.07 1.18 13.47 3.98 4.01 0 15854.76 05:37:50 m : DepthEnvelope -- Measured altitude 7.118644 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.235386 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.235386 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.235386 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200716.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.235386 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.956667 : DepthEnvelope -- Measured altitude 7.235386 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.235386 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.235386 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.235386 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200717.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.511071 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.511071 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.511071 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.511071 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.511071 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200718.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.511071 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.511071 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.641986 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.641986 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.641986 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200719.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.641986 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.641986 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.641986 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.641986 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.641986 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200720.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.865613 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.865613 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.865613 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.865613 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.865613 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.91 0.89 12.79 3.99 4.01 0 24663.98 05:37:55 m : AshtechGps::processRecord() - $GPGGA,200721.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.865613 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.865613 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.887600 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.887600 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.887600 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200722.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.887600 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.887600 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.887600 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.887600 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.039195 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200723.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.039195 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.97 1.08 12.20 3.90 4.02 0 9832.85 05:37:58 m : DepthEnvelope -- Measured altitude 8.039195 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.039195 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.039195 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.039195 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200724.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.039195 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.039195 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.155911 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.155911 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.155911 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200725.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.155911 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 32.07 1.14 13.47 3.98 4.01 0 15854.61 05:38:00 m : DepthEnvelope -- Measured altitude 8.155911 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.155911 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.155911 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.079359 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200726.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.079359 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.956667 : DepthEnvelope -- Measured altitude 8.079359 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.079359 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.079359 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.079359 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200727.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.079359 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.957599 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.957599 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.957599 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.957599 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200728.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.957599 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.957599 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.957599 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.957599 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.007487 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200729.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.007487 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.007487 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.007487 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.007487 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.007487 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200730.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.007487 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.951590 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.951590 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.951590 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.951590 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.91 0.92 12.79 3.99 4.01 0 24663.87 05:38:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200731.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.951590 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.951590 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.951590 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.044580 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.044580 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200732.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.044580 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.044580 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.044580 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.044580 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.044580 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200733.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.97 0.94 12.20 3.90 4.02 0 9832.74 05:38:08 m : DepthEnvelope -- Measured altitude 8.044580 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.216338 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.216338 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.216338 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.216338 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200734.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.216338 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.216338 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.216338 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.307868 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.307868 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200735.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.307868 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.11 1.14 13.47 3.98 4.01 0 15854.52 05:38:10 m : DepthEnvelope -- Measured altitude 8.307868 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.307868 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.307868 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.307868 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200736.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.720553 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.956667 : DepthEnvelope -- Measured altitude 8.720553 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.720553 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.720553 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.720553 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200737.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.720553 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.720553 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.720553 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.830526 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.830526 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200738.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.830526 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.830526 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.830526 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.830526 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.830526 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200739.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.169831 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.169831 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.169831 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.169831 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.169831 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200740.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.169831 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.169831 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.306413 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.306413 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.306413 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.91 0.81 12.79 3.99 4.01 0 24663.82 05:38:15 m : AshtechGps::processRecord() - $GPGGA,200741.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.306413 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.306413 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.306413 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.306413 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.306413 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200742.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.636986 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.636986 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.636986 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.636986 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.636986 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200743.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.636986 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 32.01 0.90 12.20 3.90 4.02 0 9832.67 05:38:18 m : DepthEnvelope -- Measured altitude 9.636986 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.837534 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.837534 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.837534 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200744.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.837534 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.837534 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.837534 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.837534 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.837534 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200745.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- altitude 10.009514 over abort altitude 10.000000, starting prop! : BluefinBatt Reply: $c0q0 d- 32.11 1.14 13.37 3.98 4.01 0 15854.39 05:38:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200746.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.956667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200747.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200748.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200749.00,,,,,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,200750.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.83 2.78 12.69 3.99 4.01 0 24663.65 05:38:25 m : AshtechGps::processRecord() - $GPGGA,200751.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200752.00,,,,,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,200753.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 31.85 2.67 12.20 3.91 4.03 0 9832.50 05:38:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200754.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200755.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.00 3.95 13.37 3.98 4.01 0 15854.21 05:38:30 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200756.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.960000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200757.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200758.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.910862 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.910862 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.910862 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.910862 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200759.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.910862 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.910862 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.910862 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- altitude 10.111780 over abort altitude 10.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200800.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.79 3.26 12.79 3.99 4.01 0 24663.40 05:38:35 m : AshtechGps::processRecord() - $GPGGA,200801.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200802.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200803.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.93 1.37 12.10 3.91 4.03 0 9832.28 05:38:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200804.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200805.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.00 3.23 13.47 3.97 4.01 0 15853.83 05:38:40 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200806.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.956667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200807.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200808.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200809.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200810.00,,,,,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: $aaq0 d- 31.79 3.48 12.79 3.98 4.00 0 24663.10 05:38:45 m : AshtechGps::processRecord() - $GPGGA,200811.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200812.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200813.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.82 2.82 12.20 3.90 4.02 0 9832.03 05:38:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200814.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200815.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.00 3.66 13.37 3.97 4.01 0 15853.59 05:38:50 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200816.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.950000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200817.00,,,,,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,200818.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200819.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200820.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.79 3.22 12.69 3.98 4.00 0 24662.87 05:38:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200821.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200822.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200823.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.85 2.64 12.20 3.90 4.02 0 9831.86 05:38:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200824.00,,,,,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,200825.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.96 3.48 13.28 3.97 4.00 0 15853.25 05:39:00 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200826.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.950000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200827.00,,,,,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,200828.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200829.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200830.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.83 2.96 12.79 3.98 4.00 0 24662.52 05:39:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200831.00,,,,,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,200832.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200833.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.85 2.67 12.20 3.89 4.01 0 9831.60 05:39:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200834.00,,,,,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,200835.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.03 3.26 13.37 3.97 4.00 0 15853.03 05:39:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200836.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200837.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200838.00,,,,,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,200839.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200840.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.79 2.89 12.69 3.98 4.00 0 24662.30 05:39:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200841.00,,,,,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,200842.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200843.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.85 2.57 12.20 3.89 4.01 0 9831.43 05:39:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200844.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200845.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.00 3.34 13.28 3.97 4.00 0 15852.69 05:39:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200846.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200847.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200848.00,,,,,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,200849.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200850.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.79 3.11 12.69 3.98 4.00 0 24661.97 05:39:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200851.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200852.00,,,,,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,200853.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.85 2.93 12.20 3.89 4.01 0 9831.19 05:39:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200854.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200855.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.00 3.37 13.28 3.97 4.00 0 15852.46 05:39:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200856.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200857.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200858.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200859.00,,,,,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,200900.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.79 3.11 12.69 3.98 4.00 0 24661.72 05:39:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200901.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200902.00,,,,,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,200903.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 31.85 2.67 12.20 3.89 4.01 0 9830.99 05:39:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200904.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200905.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.00 3.26 13.28 3.97 4.00 0 15852.14 05:39:40 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200906.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200907.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200908.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200909.00,,,,,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,200910.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.79 2.82 12.69 3.98 4.00 0 24661.38 05:39:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200911.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200912.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200913.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.85 2.64 12.20 3.89 4.01 0 9830.75 05:39:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200914.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200915.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.00 3.52 13.28 3.97 4.00 0 15851.92 05:39:50 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200916.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200917.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200918.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200919.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200920.00,,,,,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: $aaq0 d- 31.87 2.92 12.69 3.98 4.00 0 24661.16 05:39:55 m : AshtechGps::processRecord() - $GPGGA,200921.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200922.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200923.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.85 2.64 12.20 3.89 4.01 0 9830.59 05:39:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200924.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200925.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.00 3.41 13.28 3.97 4.00 0 15851.56 05:40:00 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200926.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200927.00,,,,,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,200928.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200929.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200930.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.83 3.11 12.69 3.97 4.00 0 24660.83 05:40:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200931.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200932.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200933.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.85 2.60 12.20 3.89 4.01 0 9830.34 05:40:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200934.00,,,,,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,200935.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.00 3.34 13.28 3.97 4.00 0 15851.34 05:40:10 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200936.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.943333 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200937.00,,,,,0,00,,,M,,M,,*47 : 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,200938.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200939.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200940.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.79 3.15 12.69 3.97 4.00 0 24660.61 05:40:15 m : AshtechGps::processRecord() - $GPGGA,200941.00,,,,,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,200942.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200943.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.82 2.78 12.10 3.89 4.01 0 9830.16 05:40:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200944.00,,,,,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,200945.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 31.96 3.66 13.28 3.96 4.00 0 15850.98 05:40:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200946.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.940000 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200947.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200948.00,,,,,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,200949.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200950.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.79 3.48 12.69 3.97 4.00 0 24660.22 05:40:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200951.00,,,,,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,200952.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200953.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.82 2.89 12.10 3.89 4.01 0 9829.90 05:40:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200954.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200955.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.96 3.73 13.28 3.96 4.00 0 15850.74 05:40:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200956.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.940000 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200957.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,200958.00,,,,,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,200959.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201000.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.79 3.26 12.59 3.97 4.00 0 24659.98 05:40:35 m : AshtechGps::processRecord() - $GPGGA,201001.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201002.00,,,,,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,201003.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.85 2.89 12.20 3.89 4.01 0 9829.73 05:40:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201004.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201005.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.00 3.41 13.28 3.96 4.00 0 15850.39 05:40:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201006.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.940000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201007.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201008.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201009.00,,,,,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,201010.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.79 3.15 12.69 3.97 4.00 0 24659.63 05:40:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201011.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201012.00,,,,,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,201013.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.82 2.93 12.20 3.89 4.01 0 9829.47 05:40:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201014.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201015.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.92 4.06 13.28 3.96 4.00 0 15850.10 05:40:50 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201016.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.940000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201017.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201018.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201019.00,,,,,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,201020.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.79 3.26 12.69 3.97 4.00 0 24659.37 05:40:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201021.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201022.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201023.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.85 2.75 12.20 3.89 4.01 0 9829.28 05:40:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201024.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201025.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.92 3.80 13.37 3.96 4.00 0 15849.74 05:41:00 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201026.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.940000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201027.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201028.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201029.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201030.00,,,,,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: $aaq0 d- 31.75 3.19 12.69 3.97 4.00 0 24659.00 05:41:05 m : AshtechGps::processRecord() - $GPGGA,201031.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201032.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201033.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.82 2.82 12.10 3.89 4.01 0 9829.02 05:41:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201034.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201035.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.00 3.62 13.37 3.96 4.00 0 15849.51 05:41:10 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201036.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.940000 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201037.00,,,,,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,201038.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201039.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201040.00,,,,,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: $aaq0 d- 31.79 3.19 12.79 3.97 4.00 0 24658.76 05:41:15 m : AshtechGps::processRecord() - $GPGGA,201041.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201042.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201043.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.82 2.96 12.10 3.89 4.01 0 9828.84 05:41:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201044.00,,,,,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,201045.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 31.92 3.70 13.37 3.96 4.00 0 15849.11 05:41:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201046.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.940000 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201047.00,,,,,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,201048.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201049.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201050.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.75 3.44 12.69 3.97 4.00 0 24658.40 05:41:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201051.00,,,,,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,201052.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201053.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.78 3.00 12.10 3.89 4.01 0 9828.58 05:41:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201054.00,,,,,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,201055.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 31.96 3.52 13.47 3.96 4.00 0 15848.87 05:41:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201056.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.940000 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201057.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201058.00,,,,,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,201059.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201100.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.79 3.33 12.79 3.97 4.00 0 24658.17 05:41:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201101.00,,,,,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,201102.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201103.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.78 2.96 12.10 3.89 4.01 0 9828.40 05:41:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201104.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201105.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.96 3.80 13.47 3.96 4.00 0 15848.51 05:41:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201106.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.940000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201107.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201108.00,,,,,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,201109.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201110.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.79 3.26 12.79 3.97 3.99 0 24657.82 05:41:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201111.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201112.00,,,,,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,201113.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.82 2.75 12.10 3.89 4.01 0 9828.14 05:41:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201114.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201115.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.96 3.70 13.47 3.96 4.00 0 15848.28 05:41:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201116.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.940000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201117.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201118.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201119.00,,,,,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,201120.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.79 3.26 12.79 3.97 3.99 0 24657.58 05:41:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201121.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201122.00,,,,,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,201123.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 31.82 2.71 12.10 3.89 4.01 0 9827.97 05:41:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201124.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201125.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.92 3.80 13.47 3.96 4.00 0 15847.93 05:42:00 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201126.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.940000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201127.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201128.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201129.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201130.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.79 3.07 12.79 3.97 3.99 0 24657.23 05:42:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201131.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201132.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201133.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.82 2.78 12.10 3.89 4.01 0 9827.70 05:42:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201134.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201135.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.96 3.70 13.47 3.96 4.00 0 15847.69 05:42:10 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201136.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.940000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201137.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201138.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201139.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201140.00,,,,,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- 31.79 3.33 12.79 3.97 3.99 0 24656.98 05:42:15 m : AshtechGps::processRecord() - $GPGGA,201141.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201142.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201143.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.78 3.22 12.20 3.89 4.01 0 9827.52 05:42:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201144.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201145.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.92 3.52 13.47 3.96 4.00 0 15847.34 05:42:20 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201146.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.940000 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201147.00,,,,,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,201148.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201149.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.676886 under allowable altitude 10.000000. Stopping! : resetting depth trajectory : DepthEnvelope -- Measured altitude 9.676886 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.676886 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201150.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.676886 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.676886 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.676886 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.676886 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.676886 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.79 3.33 12.69 3.97 4.00 0 24656.65 05:42:25 m : AshtechGps::processRecord() - $GPGGA,201151.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.183502 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.183502 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.183502 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.183502 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.183502 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201152.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.183502 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.183502 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.725654 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.725654 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.725654 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201153.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.725654 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.85 1.62 12.20 3.89 4.01 0 9827.25 05:42:28 m : DepthEnvelope -- Measured altitude 8.725654 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.725654 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.725654 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.420072 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201154.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.420072 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.420072 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.420072 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.420072 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.420072 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201155.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.420072 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.420072 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 32.03 1.61 13.47 3.96 4.00 0 15847.09 05:42:30 m : DepthEnvelope -- Measured altitude 7.738014 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.738014 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.738014 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201156.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.738014 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.738014 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.940000 : DepthEnvelope -- Measured altitude 7.738014 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.738014 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.937294 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201157.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.937294 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.937294 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.937294 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.937294 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.937294 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201158.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.937294 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.409407 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.409407 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.409407 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.409407 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201159.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.409407 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.409407 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.409407 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.409407 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.972187 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201200.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.972187 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.972187 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.972187 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.972187 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.972187 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.87 1.14 12.79 3.97 4.00 0 24656.54 05:42:35 m : AshtechGps::processRecord() - $GPGGA,201201.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.972187 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.717805 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.717805 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.717805 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.717805 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201202.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.717805 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.717805 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.717805 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.646181 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.646181 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201203.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.646181 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.93 0.94 12.10 3.89 4.01 0 9827.18 05:42:38 m : DepthEnvelope -- Measured altitude 5.646181 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.646181 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.646181 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.646181 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201204.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.646181 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.726468 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.726468 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.726468 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.726468 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201205.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.726468 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.726468 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.07 1.11 13.37 3.98 4.01 0 15846.96 05:42:40 m : DepthEnvelope -- Measured altitude 5.726468 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.927612 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.927612 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201206.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.927612 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.927612 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : DepthEnvelope -- Measured altitude 5.927612 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.927612 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.927612 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201207.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.007700 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.007700 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.007700 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.007700 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.007700 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201208.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.007700 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.007700 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.007700 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.243294 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.243294 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201209.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.243294 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.243294 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.243294 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.243294 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.243294 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201210.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.522734 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.522734 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.522734 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.522734 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.522734 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.91 0.89 12.69 3.99 4.01 0 24656.42 05:42:45 m : AshtechGps::processRecord() - $GPGGA,201211.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.522734 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.522734 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.629630 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.629630 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.629630 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201212.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.629630 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.629630 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.629630 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.629630 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.629630 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201213.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.760820 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.93 1.12 12.20 3.90 4.02 0 9827.07 05:42:48 m : DepthEnvelope -- Measured altitude 6.760820 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.760820 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.760820 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.760820 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201214.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.760820 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.760820 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.917884 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.917884 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.917884 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201215.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.917884 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.07 1.36 13.37 3.98 4.01 0 15846.88 05:42:50 m : DepthEnvelope -- Measured altitude 6.917884 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.917884 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.917884 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.917884 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201216.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.022634 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.956667 : DepthEnvelope -- Measured altitude 7.022634 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.022634 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.022634 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.022634 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201217.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.022634 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.022634 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.247493 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.247493 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.247493 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201218.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.247493 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.247493 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.247493 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.247493 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.427785 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201219.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.427785 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.427785 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.427785 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.427785 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.427785 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201220.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.427785 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.427785 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.481123 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.481123 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.481123 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.87 1.18 12.69 3.99 4.01 0 24656.35 05:42:55 m : AshtechGps::processRecord() - $GPGGA,201221.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.481123 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.481123 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.481123 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.481123 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.593050 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201222.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.593050 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.593050 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.593050 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.593050 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.593050 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201223.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.593050 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.93 1.15 12.10 3.90 4.02 0 9826.99 05:42:58 m : DepthEnvelope -- Measured altitude 7.604120 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.604120 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.604120 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.604120 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201224.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.604120 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.604120 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.604120 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.604120 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.651984 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201225.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.651984 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.03 1.39 13.28 3.98 4.01 0 15846.75 05:43:00 m : DepthEnvelope -- Measured altitude 7.651984 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.651984 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.651984 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.651984 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201226.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.651984 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.956667 : DepthEnvelope -- Measured altitude 7.683238 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.683238 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.683238 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.683238 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201227.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.683238 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.683238 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.683238 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.685697 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.685697 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201228.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.685697 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.685697 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.685697 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.685697 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.685697 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201229.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.685697 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.804617 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.804617 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.804617 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.804617 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201230.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.804617 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.804617 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.804617 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.867856 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.867856 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.87 0.85 12.69 3.98 4.01 0 24656.23 05:43:05 m : AshtechGps::processRecord() - $GPGGA,201231.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.867856 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.867856 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.867856 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.867856 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.867856 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201232.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.021659 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.021659 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.021659 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.021659 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.021659 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201233.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.021659 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $b6q0 d- 31.97 1.01 12.10 3.90 4.02 0 9826.89 05:43:08 m : DepthEnvelope -- Measured altitude 8.021659 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.021659 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.340012 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.340012 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201234.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.340012 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.340012 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.340012 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.340012 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.340012 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201235.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.502913 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.502913 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.07 1.21 13.37 3.98 4.01 0 15846.65 05:43:10 m : DepthEnvelope -- Measured altitude 8.502913 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.502913 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.502913 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201236.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.502913 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.502913 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.953334 : DepthEnvelope -- Measured altitude 8.502913 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.728061 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.728061 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201237.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.728061 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.728061 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.728061 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.728061 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.728061 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201238.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.056352 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.056352 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.056352 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.056352 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.056352 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201239.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.056352 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.056352 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.174848 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.174848 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.174848 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201240.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.174848 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.174848 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.174848 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.174848 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.174848 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.91 0.92 12.69 3.98 4.01 0 24656.15 05:43:15 m : AshtechGps::processRecord() - $GPGGA,201241.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.374354 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.374354 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.374354 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.374354 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.374354 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201242.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.374354 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.374354 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.532994 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.532994 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.532994 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201243.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.532994 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.97 1.01 12.10 3.90 4.02 0 9826.82 05:43:18 m : DepthEnvelope -- Measured altitude 9.532994 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.532994 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.532994 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.739696 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201244.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.739696 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.739696 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.739696 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.739696 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.739696 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201245.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.739696 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.739696 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.07 1.25 13.28 3.98 4.01 0 15846.51 05:43:20 m : DepthEnvelope -- Measured altitude 9.935776 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.935776 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.935776 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201246.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.935776 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.935776 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.953334 : DepthEnvelope -- Measured altitude 9.935776 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.935776 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- altitude 10.051016 over abort altitude 10.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201247.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201248.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201249.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201250.00,,,,,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: $aaq0 d- 31.87 1.48 12.69 3.99 4.01 0 24656.02 05:43:25 m : AshtechGps::processRecord() - $GPGGA,201251.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201252.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201253.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.85 2.67 12.10 3.90 4.02 0 9826.66 05:43:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201254.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201255.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.92 4.20 13.28 3.98 4.01 0 15846.37 05:43:30 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201256.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.956667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201257.00,,,,,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,201258.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201259.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201300.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.79 3.52 12.59 3.99 4.01 0 24655.78 05:43:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201301.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201302.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201303.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.82 2.75 12.10 3.90 4.02 0 9826.45 05:43:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201304.00,,,,,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,201305.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.92 4.06 13.28 3.96 4.00 0 15845.96 05:43:40 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201306.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.950000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201307.00,,,,,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,201308.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201309.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201310.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.79 3.22 12.69 3.97 3.99 0 24655.40 05:43:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201311.00,,,,,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,201312.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201313.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.82 2.89 12.10 3.88 4.01 0 9826.14 05:43:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201314.00,,,,,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,201315.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 31.96 3.44 13.28 3.96 4.00 0 15845.69 05:43:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201316.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.936667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201317.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201318.00,,,,,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,201319.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201320.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.79 2.85 12.59 3.97 3.99 0 24655.16 05:43:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201321.00,,,,,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,201322.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201323.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.85 2.53 12.10 3.88 4.01 0 9825.94 05:43:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201324.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201325.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.96 3.59 13.28 3.96 4.00 0 15845.31 05:44:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201326.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.936667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201327.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201328.00,,,,,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,201329.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201330.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.79 2.82 12.69 3.97 4.00 0 24654.83 05:44:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201331.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201332.00,,,,,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,201333.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.85 2.64 12.10 3.89 4.01 0 9825.63 05:44:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201334.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201335.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.96 3.37 13.28 3.96 4.00 0 15845.06 05:44:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201336.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.940000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201337.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201338.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201339.00,,,,,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,201340.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.79 2.67 12.69 3.97 4.00 0 24654.61 05:44:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201341.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201342.00,,,,,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,201343.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 31.85 2.53 12.10 3.89 4.01 0 9825.45 05:44:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201344.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201345.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.96 3.19 13.28 3.96 4.00 0 15844.70 05:44:20 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201346.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.940000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201347.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201348.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201349.00,,,,,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,201350.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.79 2.74 12.59 3.97 4.00 0 24654.25 05:44:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201351.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201352.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201353.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.82 2.46 12.10 3.89 4.01 0 9825.16 05:44:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201354.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201355.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.96 3.30 13.28 3.96 4.00 0 15844.47 05:44:30 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201356.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.940000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201357.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201358.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201359.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201400.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.83 3.93 12.59 3.97 4.00 0 24654.02 05:44:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201401.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201402.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201403.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.82 2.50 12.10 3.89 4.01 0 9824.96 05:44:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201404.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201405.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.96 3.48 13.18 3.96 4.00 0 15844.11 05:44:40 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201406.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.940000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201407.00,,,,,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,201408.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201409.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201410.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.79 2.78 12.59 3.97 3.99 0 24653.69 05:44:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201411.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201412.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201413.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.82 2.46 12.10 3.89 4.01 0 9824.66 05:44:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201414.00,,,,,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,201415.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.96 3.44 13.18 3.96 4.00 0 15843.87 05:44:50 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201416.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.940000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201417.00,,,,,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,201418.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201419.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201420.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.79 2.74 12.59 3.97 3.99 0 24653.46 05:44:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201421.00,,,,,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,201422.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201423.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.82 2.57 12.10 3.89 4.01 0 9824.49 05:44:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201424.00,,,,,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,201425.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 31.96 3.26 13.18 3.96 4.00 0 15843.53 05:45:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201426.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.940000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201427.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201428.00,,,,,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,201429.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201430.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.79 2.74 12.59 3.97 4.00 0 24653.13 05:45:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201431.00,,,,,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,201432.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201433.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.82 2.46 12.10 3.88 4.01 0 9824.18 05:45:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201434.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201435.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.92 3.48 13.18 3.96 4.00 0 15843.28 05:45:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201436.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.936667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201437.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201438.00,,,,,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,201439.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201440.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.75 3.00 12.59 3.97 4.00 0 24652.91 05:45:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201441.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201442.00,,,,,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,201443.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.85 2.50 12.10 3.88 4.01 0 9823.98 05:45:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201444.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201445.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 4.96 13.18 3.96 4.00 0 15842.88 05:45:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201446.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.936667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201447.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201448.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201449.00,,,,,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,201450.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.75 3.07 12.50 3.96 3.99 0 24652.58 05:45:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201451.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201452.00,,,,,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,201453.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.82 2.50 12.10 3.88 4.01 0 9823.68 05:45:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201454.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201455.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.92 3.55 13.18 3.96 4.00 0 15842.62 05:45:30 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201456.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.933333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201457.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201458.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201459.00,,,,,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,201500.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.75 3.19 12.59 3.96 3.99 0 24652.35 05:45:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201501.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201502.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201503.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.78 2.82 12.10 3.88 4.01 0 9823.49 05:45:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201504.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201505.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.92 3.73 13.18 3.96 3.99 0 15842.24 05:45:40 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201506.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.933333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201507.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201508.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201509.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201510.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.79 3.04 12.50 3.97 3.99 0 24651.99 05:45:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201511.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201512.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201513.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.82 2.57 12.01 3.88 4.00 0 9823.18 05:45:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201514.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201515.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.92 3.66 13.28 3.96 3.99 0 15841.97 05:45:50 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201516.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.936667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201517.00,,,,,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,201518.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201519.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201520.00,,,,,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: $aaq0 d- 31.79 3.15 12.59 3.97 3.99 0 24651.75 05:45:55 m : AshtechGps::processRecord() - $GPGGA,201521.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201522.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201523.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.78 2.71 12.01 3.88 4.00 0 9822.98 05:45:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201524.00,,,,,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,201525.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.92 3.91 13.28 3.96 4.00 0 15841.58 05:46:00 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201526.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.936667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201527.00,,,,,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,201528.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201529.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201530.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.79 3.00 12.59 3.97 3.99 0 24651.36 05:46:05 m : AshtechGps::processRecord() - $GPGGA,201531.00,,,,,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,201532.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201533.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.82 2.82 12.10 3.88 4.00 0 9822.66 05:46:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201534.00,,,,,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,201535.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 31.92 3.66 13.28 3.96 4.00 0 15841.32 05:46:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201536.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.936667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201537.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201538.00,,,,,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,201539.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201540.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.71 3.26 12.59 3.97 3.99 0 24651.12 05:46:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201541.00,,,,,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,201542.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201543.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.78 2.67 12.10 3.88 4.00 0 9822.45 05:46:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201544.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201545.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.92 3.70 13.28 3.96 3.99 0 15840.92 05:46:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201546.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.936667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201547.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201548.00,,,,,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,201549.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201550.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.79 3.11 12.59 3.97 3.99 0 24650.76 05:46:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201551.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201552.00,,,,,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,201553.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.78 2.71 12.10 3.88 4.00 0 9822.16 05:46:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201554.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201555.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.92 3.52 13.28 3.96 3.99 0 15840.67 05:46:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201556.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.936667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201557.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201558.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201559.00,,,,,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,201600.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.79 3.26 12.69 3.97 3.99 0 24650.53 05:46:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201601.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201602.00,,,,,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,201603.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 31.78 2.71 12.10 3.88 4.00 0 9821.95 05:46:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201604.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201605.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 3.98 13.28 3.96 4.00 0 15840.29 05:46:40 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201606.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.936667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201607.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201608.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201609.00,,,,,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,201610.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.79 3.00 12.69 3.96 3.99 0 24650.15 05:46:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201611.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201612.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201613.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.78 2.82 12.01 3.88 4.00 0 9821.63 05:46:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201614.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201615.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.92 3.70 13.37 3.96 4.00 0 15839.99 05:46:50 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201616.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.933333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201617.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201618.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201619.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201620.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.75 2.92 12.79 3.96 3.99 0 24649.91 05:46:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201621.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201622.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201623.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.78 2.75 12.01 3.88 4.00 0 9821.41 05:46:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201624.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201625.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.92 3.55 13.37 3.96 4.00 0 15839.60 05:47:00 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201626.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.933333 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201627.00,,,,,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,201628.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201629.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201630.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.75 3.07 12.69 3.97 3.99 0 24649.56 05:47:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201631.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201632.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201633.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.78 2.64 12.10 3.88 4.00 0 9821.11 05:47:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201634.00,,,,,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,201635.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 31.88 3.91 13.37 3.96 4.00 0 15839.35 05:47:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201636.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.936667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201637.00,,,,,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,201638.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201639.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201640.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.75 3.11 12.69 3.97 3.99 0 24649.34 05:47:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201641.00,,,,,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,201642.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201643.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.78 2.75 12.10 3.88 4.00 0 9820.90 05:47:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201644.00,,,,,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,201645.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 31.88 3.73 13.28 3.96 3.99 0 15838.96 05:47:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201646.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.936667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201647.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201648.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201649.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201650.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.75 2.96 12.79 3.97 3.99 0 24648.98 05:47:25 m : AshtechGps::processRecord() - $GPGGA,201651.00,,,,,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,201652.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201653.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.82 2.82 12.01 3.88 4.00 0 9820.59 05:47:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201654.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201655.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.92 3.80 13.28 3.96 3.99 0 15838.70 05:47:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201656.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.936667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201657.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.732638 under allowable altitude 10.000000. Stopping! : resetting depth trajectory : DepthEnvelope -- Measured altitude 9.732638 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.732638 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201658.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.732638 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.732638 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.732638 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.732638 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.732638 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201659.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.108613 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.108613 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.108613 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.108613 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.108613 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201700.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.108613 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.108613 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.922518 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.922518 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.922518 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.83 1.41 12.69 3.97 3.99 0 24648.75 05:47:35 m : AshtechGps::processRecord() - $GPGGA,201701.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.922518 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.922518 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.922518 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.922518 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.922518 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201702.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.279563 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.279563 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.279563 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.279563 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.279563 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201703.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.279563 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.93 0.97 12.10 3.88 4.00 0 9820.43 05:47:38 m : DepthEnvelope -- Measured altitude 8.279563 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.575876 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.575876 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.575876 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201704.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.575876 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.575876 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.575876 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.575876 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.136061 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201705.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.136061 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.136061 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.00 1.65 13.37 3.98 4.01 0 15838.45 05:47:40 m : DepthEnvelope -- Measured altitude 7.136061 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.136061 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.136061 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201706.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.136061 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.136061 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.943333 : DepthEnvelope -- Measured altitude 6.478724 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.478724 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.478724 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201707.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.478724 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.478724 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.478724 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.478724 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.173973 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201708.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.173973 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.173973 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.173973 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.173973 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.173973 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201709.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.173973 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.065083 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.065083 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.065083 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.065083 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201710.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.065083 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.065083 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.065083 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.065083 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.093096 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.87 1.26 12.69 3.98 4.00 0 24648.61 05:47:45 m : AshtechGps::processRecord() - $GPGGA,201711.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.093096 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.093096 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.093096 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.093096 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.093096 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201712.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.093096 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.218913 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.218913 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.218913 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.218913 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201713.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.218913 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $b6q0 d- 31.89 1.30 12.01 3.89 4.01 0 9820.28 05:47:48 m : DepthEnvelope -- Measured altitude 6.218913 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.218913 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.358909 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.358909 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201714.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.358909 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.358909 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.358909 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.358909 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.358909 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201715.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.358909 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.03 1.25 13.37 3.98 4.01 0 15838.36 05:47:50 m : DepthEnvelope -- Measured altitude 6.627085 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.627085 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.627085 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.627085 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201716.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.627085 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.950000 : DepthEnvelope -- Measured altitude 6.627085 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.627085 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.870831 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.870831 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201717.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.870831 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.870831 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.870831 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.870831 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.870831 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201718.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.107834 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.107834 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.107834 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.107834 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.107834 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201719.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.107834 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.107834 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.107834 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.073494 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.073494 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201720.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.073494 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.073494 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.073494 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.073494 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.073494 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.83 0.96 12.69 3.98 4.00 0 24648.50 05:47:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201721.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.322322 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.322322 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.322322 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.322322 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.322322 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201722.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.322322 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.322322 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.322322 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.516520 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.516520 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201723.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.516520 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.93 0.94 12.10 3.89 4.01 0 9820.19 05:47:58 m : DepthEnvelope -- Measured altitude 7.516520 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.516520 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.516520 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.516520 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201724.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.583455 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.583455 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.583455 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.583455 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.583455 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201725.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.583455 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.03 1.39 13.28 3.98 4.01 0 15838.19 05:48:00 m : DepthEnvelope -- Measured altitude 7.583455 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.832538 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.832538 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.832538 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201726.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.832538 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.950000 : DepthEnvelope -- Measured altitude 7.832538 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.832538 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.832538 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.832538 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201727.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.844922 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.844922 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.844922 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.844922 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.844922 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201728.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.844922 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.844922 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.954781 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.954781 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.954781 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201729.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.954781 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.954781 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.954781 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.954781 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.064370 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201730.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.064370 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.064370 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.064370 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.064370 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.064370 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.83 1.29 12.59 3.98 4.00 0 24648.38 05:48:05 m : AshtechGps::processRecord() - $GPGGA,201731.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.064370 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.064370 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.077828 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.077828 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.077828 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201732.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.077828 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.077828 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.077828 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.077828 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.086052 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201733.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.086052 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.89 1.08 12.01 3.90 4.01 0 9820.06 05:48:08 m : DepthEnvelope -- Measured altitude 8.086052 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.086052 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.086052 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.086052 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201734.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.086052 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.086052 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.233413 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.233413 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.233413 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201735.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.233413 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.03 1.14 13.28 3.98 4.01 0 15838.09 05:48:10 m : DepthEnvelope -- Measured altitude 8.233413 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.233413 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.233413 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.229436 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201736.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.229436 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.953334 : DepthEnvelope -- Measured altitude 8.229436 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.229436 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.229436 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.229436 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201737.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.229436 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.358949 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.358949 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.358949 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.358949 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201738.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.358949 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.358949 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.358949 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.358949 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.497387 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201739.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.497387 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.497387 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.497387 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.497387 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.497387 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201740.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.497387 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.669863 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.669863 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.669863 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.669863 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.87 0.92 12.69 3.98 4.00 0 24648.30 05:48:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201741.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.669863 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.669863 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.669863 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.923676 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.923676 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201742.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.923676 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.923676 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.923676 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.923676 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.923676 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201743.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.93 1.01 12.01 3.90 4.01 0 9819.99 05:48:18 m : DepthEnvelope -- Measured altitude 8.923676 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.129615 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.129615 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.129615 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.129615 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201744.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.129615 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.129615 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.129615 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.295487 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.295487 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201745.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.295487 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.03 1.14 13.28 3.98 4.01 0 15837.96 05:48:20 m : DepthEnvelope -- Measured altitude 9.295487 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.295487 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.295487 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.295487 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201746.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.646834 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.953334 : DepthEnvelope -- Measured altitude 9.646834 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.646834 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.646834 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.646834 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201747.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.646834 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.646834 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.646834 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.700592 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.700592 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201748.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.700592 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.700592 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.700592 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.700592 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.700592 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201749.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.913778 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.913778 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.913778 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.913778 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.913778 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201750.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.913778 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.913778 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- altitude 10.150380 over abort altitude 10.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.83 0.85 12.69 3.98 4.01 0 24648.20 05:48:25 m : AshtechGps::processRecord() - $GPGGA,201751.00,,,,,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,201752.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201753.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.93 0.97 12.01 3.90 4.02 0 9819.88 05:48:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201754.00,,,,,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,201755.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.00 2.55 13.28 3.98 4.01 0 15837.88 05:48:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201756.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.953334 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201757.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201758.00,,,,,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,201759.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201800.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.75 3.44 12.69 3.98 4.01 0 24648.06 05:48:35 m : AshtechGps::processRecord() - $GPGGA,201801.00,,,,,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,201802.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201803.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.82 2.96 12.10 3.90 4.02 0 9819.69 05:48:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : DepthEnvelope -- Measured altitude 9.804958 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.804958 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201804.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.804958 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.804958 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.804958 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.804958 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.804958 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201805.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.804958 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.92 4.06 13.28 3.96 4.00 0 15837.47 05:48:40 m : DepthEnvelope -- Measured altitude 9.566842 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.566842 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.566842 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.566842 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201806.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.566842 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.946667 : DepthEnvelope -- Measured altitude 9.566842 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.566842 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- altitude 10.028181 over abort altitude 10.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201807.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201808.00,,,,,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,201809.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201810.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.83 2.22 12.69 3.97 3.99 0 24647.77 05:48:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201811.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201812.00,,,,,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,201813.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.82 2.57 12.01 3.88 4.00 0 9819.45 05:48:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201814.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201815.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.92 4.42 13.28 3.96 4.00 0 15837.30 05:48:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201816.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.936667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201817.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201818.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201819.00,,,,,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,201820.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.79 3.07 12.69 3.97 3.99 0 24647.54 05:48:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201821.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201822.00,,,,,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,201823.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 31.82 2.67 12.01 3.88 4.00 0 9819.24 05:48:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201824.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201825.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.92 3.44 13.28 3.96 4.00 0 15836.91 05:49:00 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201826.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.936667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201827.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201828.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201829.00,,,,,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,201830.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.79 2.85 12.59 3.97 3.99 0 24647.17 05:49:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201831.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201832.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201833.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.82 2.57 12.01 3.88 4.00 0 9818.94 05:49:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201834.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201835.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.92 3.41 13.18 3.96 4.00 0 15836.66 05:49:10 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201836.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.936667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201837.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201838.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201839.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201840.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.79 2.74 12.59 3.97 3.99 0 24646.95 05:49:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201841.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201842.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201843.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.82 2.42 12.01 3.88 4.00 0 9818.76 05:49:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201844.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201845.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.92 3.62 13.18 3.96 4.00 0 15836.26 05:49:20 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201846.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.936667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201847.00,,,,,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,201848.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201849.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201850.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.75 2.78 12.59 3.97 3.99 0 24646.62 05:49:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201851.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201852.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201853.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.78 2.75 12.01 3.88 4.00 0 9818.46 05:49:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201854.00,,,,,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,201855.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 31.92 3.26 13.18 3.96 4.00 0 15836.02 05:49:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201856.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.936667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201857.00,,,,,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,201858.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201859.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201900.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.75 2.74 12.59 3.97 3.99 0 24646.40 05:49:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201901.00,,,,,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,201902.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201903.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.78 3.80 12.01 3.88 4.00 0 9818.26 05:49:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201904.00,,,,,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,201905.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 31.92 3.41 13.18 3.96 4.00 0 15835.65 05:49:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201906.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.936667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201907.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201908.00,,,,,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,201909.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201910.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.75 3.11 12.50 3.97 3.99 0 24646.09 05:49:45 m : AshtechGps::processRecord() - $GPGGA,201911.00,,,,,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,201912.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201913.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.78 2.60 12.10 3.88 4.00 0 9817.97 05:49:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201914.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201915.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.92 3.55 13.18 3.96 4.00 0 15835.39 05:49:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201916.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.936667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201917.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201918.00,,,,,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,201919.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201920.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.75 2.74 12.50 3.97 3.99 0 24645.87 05:49:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201921.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201922.00,,,,,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,201923.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.82 2.53 12.01 3.88 4.00 0 9817.78 05:49:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201924.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201925.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.92 3.34 13.18 3.96 4.00 0 15835.02 05:50:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201926.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.936667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201927.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201928.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201929.00,,,,,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,201930.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.75 2.67 12.50 3.97 3.99 0 24645.52 05:50:05 m : AshtechGps::processRecord() - $GPGGA,201931.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201932.00,,,,,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,201933.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 31.78 2.39 12.01 3.88 4.00 0 9817.45 05:50:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201934.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201935.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.92 3.48 13.18 3.96 4.00 0 15834.78 05:50:10 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201936.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.936667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201937.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201938.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201939.00,,,,,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,201940.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.79 2.82 12.59 3.97 3.99 0 24645.30 05:50:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201941.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201942.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201943.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.82 2.42 12.01 3.88 4.00 0 9817.26 05:50:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201944.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201945.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.92 3.37 13.08 3.96 4.00 0 15834.39 05:50:20 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201946.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.936667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201947.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201948.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201949.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201950.00,,,,,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: $aaq0 d- 31.79 2.89 12.50 3.97 3.99 0 24644.95 05:50:25 m : AshtechGps::processRecord() - $GPGGA,201951.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201952.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201953.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.78 2.57 12.01 3.88 4.00 0 9816.97 05:50:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201954.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201955.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.92 3.48 13.08 3.96 4.00 0 15834.14 05:50:30 m : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201956.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.936667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201957.00,,,,,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,201958.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,201959.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202000.00,,,,,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: $aaq0 d- 31.79 3.00 12.59 3.97 3.99 0 24644.73 05:50:35 m : AshtechGps::processRecord() - $GPGGA,202001.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202002.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202003.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.78 2.71 12.01 3.88 4.00 0 9816.77 05:50:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202004.00,,,,,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,202005.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 3.48 13.08 3.96 4.00 0 15833.73 05:50:40 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202006.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.936667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202007.00,,,,,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,202008.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202009.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202010.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.75 3.07 12.59 3.96 3.99 0 24644.36 05:50:45 m : AshtechGps::processRecord() - $GPGGA,202011.00,,,,,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,202012.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202013.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.78 2.67 12.01 3.88 4.00 0 9816.48 05:50:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202014.00,,,,,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,202015.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 31.92 3.62 13.08 3.96 4.00 0 15833.48 05:50:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202016.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.933333 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202017.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202018.00,,,,,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,202019.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202020.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.67 3.04 12.50 3.96 3.99 0 24644.13 05:50:55 m : AshtechGps::processRecord() - $GPGGA,202021.00,,,,,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,202022.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202023.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.78 2.93 12.01 3.88 4.00 0 9816.26 05:50:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202024.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202025.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 3.84 13.18 3.96 3.99 0 15833.09 05:51:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202026.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.933333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202027.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202028.00,,,,,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,202029.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202030.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.67 4.52 12.59 3.96 3.99 0 24643.77 05:51:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202031.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202032.00,,,,,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,202033.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.78 2.86 12.01 3.88 4.00 0 9815.96 05:51:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202034.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202035.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 3.70 13.18 3.96 3.99 0 15832.83 05:51:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202036.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.933333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202037.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202038.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202039.00,,,,,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,202040.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.71 2.92 12.59 3.96 3.99 0 24643.52 05:51:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202041.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202042.00,,,,,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,202043.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 31.78 2.82 12.01 3.88 4.00 0 9815.76 05:51:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202044.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202045.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 3.80 13.18 3.96 3.99 0 15832.43 05:51:20 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202046.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.933333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202047.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202048.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202049.00,,,,,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,202050.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.75 3.00 12.50 3.96 3.99 0 24643.17 05:51:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202051.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202052.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202053.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.78 2.96 12.01 3.88 4.00 0 9815.45 05:51:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202054.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202055.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 3.62 13.28 3.96 3.99 0 15832.17 05:51:30 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202056.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.933333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202057.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202058.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202059.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202100.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.67 3.00 12.50 3.96 3.99 0 24642.93 05:51:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202101.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202102.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202103.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.78 2.93 12.01 3.88 4.00 0 9815.25 05:51:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202104.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202105.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 3.80 13.28 3.95 3.99 0 15831.77 05:51:40 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202106.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.930000 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202107.00,,,,,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,202108.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202109.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202110.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.75 3.15 12.59 3.96 3.99 0 24642.53 05:51:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202111.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202112.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202113.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.74 2.86 12.01 3.88 4.00 0 9814.95 05:51:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202114.00,,,,,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,202115.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 31.88 3.84 13.28 3.95 3.99 0 15831.51 05:51:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202116.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.930000 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202117.00,,,,,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,202118.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202119.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202120.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.67 3.67 12.59 3.96 3.99 0 24642.27 05:51:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202121.00,,,,,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,202122.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202123.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.78 2.71 12.01 3.88 4.00 0 9814.75 05:51:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202124.00,,,,,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,202125.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 31.88 4.74 13.28 3.96 3.99 0 15831.12 05:52:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202126.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.933333 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202127.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202128.00,,,,,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,202129.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202130.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.75 2.89 12.50 3.96 3.99 0 24641.92 05:52:05 m : AshtechGps::processRecord() - $GPGGA,202131.00,,,,,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,202132.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202133.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.74 2.67 12.01 3.88 4.00 0 9814.44 05:52:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202134.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202135.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 3.52 13.28 3.96 3.99 0 15830.84 05:52:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202136.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.933333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202137.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202138.00,,,,,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,202139.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202140.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.71 2.92 12.59 3.96 3.99 0 24641.68 05:52:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202141.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202142.00,,,,,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,202143.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.78 2.71 12.01 3.88 4.00 0 9814.26 05:52:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202144.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202145.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 3.66 13.28 3.96 3.99 0 15830.45 05:52:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202146.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.933333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202147.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202148.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202149.00,,,,,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,202150.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.71 2.85 12.50 3.96 3.99 0 24641.33 05:52:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202151.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202152.00,,,,,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,202153.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 31.78 2.75 12.01 3.88 4.00 0 9813.95 05:52:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202154.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202155.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 3.77 13.28 3.96 3.99 0 15830.20 05:52:30 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202156.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.933333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202157.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202158.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202159.00,,,,,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,202200.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.67 3.56 12.59 3.96 3.99 0 24641.10 05:52:35 m : AshtechGps::processRecord() - $GPGGA,202201.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202202.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202203.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.78 2.82 12.01 3.88 4.00 0 9813.75 05:52:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202204.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202205.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 3.52 13.28 3.96 3.99 0 15829.81 05:52:40 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202206.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.933333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202207.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202208.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202209.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202210.00,,,,,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: $aaq0 d- 31.71 3.07 12.59 3.96 3.99 0 24640.76 05:52:45 m : AshtechGps::processRecord() - $GPGGA,202211.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202212.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202213.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.78 2.67 12.01 3.88 4.00 0 9813.45 05:52:48 m : DepthEnvelope -- Measured altitude 9.549862 under allowable altitude 10.000000. Stopping! : resetting depth trajectory : DepthEnvelope -- Measured altitude 9.549862 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.549862 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.549862 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202214.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.549862 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.549862 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.549862 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.961388 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.961388 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202215.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.961388 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.961388 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.88 3.59 13.28 3.96 3.99 0 15829.54 05:52:50 m : DepthEnvelope -- Measured altitude 8.961388 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.961388 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.961388 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202216.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.451094 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.451094 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.933333 : DepthEnvelope -- Measured altitude 8.451094 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.451094 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.451094 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202217.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.451094 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.451094 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.451094 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.142497 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.142497 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202218.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.142497 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.142497 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.142497 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.142497 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.142497 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202219.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.484880 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.484880 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.484880 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.484880 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.484880 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202220.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.484880 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.484880 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.693346 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.693346 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.693346 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.87 0.81 12.59 3.96 3.99 0 24640.60 05:52:55 m : AshtechGps::processRecord() - $GPGGA,202221.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.693346 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.693346 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.693346 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.693346 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.693346 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202222.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.230501 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.230501 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.230501 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.230501 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.230501 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202223.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.230501 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.89 0.97 12.01 3.88 4.00 0 9813.34 05:52:58 m : DepthEnvelope -- Measured altitude 6.230501 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.855199 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.855199 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.855199 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202224.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.855199 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.855199 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.855199 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.855199 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.855199 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202225.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.718559 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.00 1.39 13.28 3.97 4.00 0 15829.36 05:53:00 m : DepthEnvelope -- Measured altitude 5.718559 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.718559 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.718559 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.718559 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202226.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.718559 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.936667 : DepthEnvelope -- Measured altitude 5.718559 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.787649 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.787649 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.787649 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202227.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.787649 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.787649 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.787649 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.787649 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.865369 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202228.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.865369 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.865369 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.865369 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.865369 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.865369 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202229.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.865369 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.865369 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.180574 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.180574 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.180574 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202230.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.180574 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.180574 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.180574 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.180574 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.563774 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.87 1.26 12.59 3.98 4.00 0 24640.47 05:53:05 m : AshtechGps::processRecord() - $GPGGA,202231.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.563774 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.563774 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.563774 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.563774 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.563774 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202232.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.563774 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.707754 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.707754 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.707754 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.707754 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202233.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.707754 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.89 1.23 12.01 3.89 4.01 0 9813.21 05:53:08 m : DepthEnvelope -- Measured altitude 6.707754 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.707754 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.707754 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.851387 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202234.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.851387 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.851387 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.851387 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.851387 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.851387 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202235.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.851387 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.061417 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.03 1.11 13.18 3.97 4.00 0 15829.25 05:53:10 m : DepthEnvelope -- Measured altitude 7.061417 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.061417 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.061417 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202236.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.061417 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.061417 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : DepthEnvelope -- Measured altitude 7.061417 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.061417 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.209541 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202237.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.209541 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.209541 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.209541 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.209541 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.209541 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202238.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.209541 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.382170 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.382170 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.382170 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.382170 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202239.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.382170 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.382170 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.382170 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.516624 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.516624 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202240.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.516624 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.516624 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.516624 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.516624 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.516624 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.87 0.85 12.59 3.98 4.00 0 24640.39 05:53:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202241.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.516624 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.803805 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.803805 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.803805 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.803805 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202242.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.803805 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.803805 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.803805 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.928827 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.928827 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202243.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.89 1.23 12.01 3.89 4.01 0 9813.13 05:53:18 m : DepthEnvelope -- Measured altitude 7.928827 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.928827 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.928827 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.928827 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.928827 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202244.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.931956 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.931956 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.931956 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.931956 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.931956 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202245.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.931956 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.03 1.50 13.18 3.97 4.00 0 15829.11 05:53:20 m : DepthEnvelope -- Measured altitude 7.931956 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.931956 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.950646 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.950646 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202246.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.950646 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : DepthEnvelope -- Measured altitude 7.950646 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.950646 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.950646 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.950646 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202247.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.961866 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.961866 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.961866 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.961866 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.961866 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202248.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.961866 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.961866 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.905881 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.905881 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.905881 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202249.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.905881 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.905881 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.905881 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.905881 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.905881 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202250.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.925719 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.925719 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.925719 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.925719 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.925719 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.83 0.89 12.50 3.98 4.00 0 24640.26 05:53:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202251.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.925719 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.925719 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.007161 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.007161 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.007161 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202252.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.007161 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.007161 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.007161 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.007161 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.007161 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202253.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.93 0.94 12.01 3.89 4.01 0 9813.01 05:53:28 m : DepthEnvelope -- Measured altitude 8.027255 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.027255 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.027255 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.027255 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.027255 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202254.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.027255 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.027255 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.246836 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.246836 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.246836 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202255.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.246836 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.03 1.14 13.18 3.97 4.00 0 15829.02 05:53:30 m : DepthEnvelope -- Measured altitude 8.246836 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.246836 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.246836 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.456855 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202256.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.456855 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : DepthEnvelope -- Measured altitude 8.456855 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.456855 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.456855 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.456855 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202257.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.456855 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.456855 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.569667 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.569667 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.569667 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202258.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.569667 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.569667 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.569667 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.569667 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.759786 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202259.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.759786 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.759786 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.759786 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.759786 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.759786 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202300.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.759786 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.981421 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.981421 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.981421 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.981421 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.87 0.92 12.59 3.98 4.00 0 24640.19 05:53:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202301.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.981421 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.981421 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.981421 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.981421 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.156218 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202302.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.156218 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.156218 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.156218 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.156218 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.156218 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202303.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.156218 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $b6q0 d- 31.93 1.01 12.01 3.89 4.01 0 9812.94 05:53:38 m : DepthEnvelope -- Measured altitude 9.313196 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.313196 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.313196 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.313196 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202304.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.313196 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.313196 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.313196 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.559493 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.559493 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202305.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.559493 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.03 1.11 13.18 3.97 4.01 0 15828.90 05:53:40 m : DepthEnvelope -- Measured altitude 9.559493 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.559493 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.559493 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.559493 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202306.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.559493 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : DepthEnvelope -- Measured altitude 9.781352 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.781352 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.781352 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.781352 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202307.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.781352 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.781352 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.781352 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.840362 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.840362 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202308.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.840362 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.840362 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.840362 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.840362 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.840362 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202309.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.895667 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.895667 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.895667 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.895667 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.895667 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202310.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.895667 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.895667 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.895667 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- altitude 10.098042 over abort altitude 10.000000, starting prop! : BluefinBatt Reply: $aaq0 d- 31.83 1.22 12.50 3.98 4.00 0 24640.09 05:53:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202311.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202312.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202313.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.89 1.01 11.91 3.90 4.01 0 9812.81 05:53:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202314.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202315.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.00 2.48 13.18 3.97 4.01 0 15828.79 05:53:50 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202316.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.950000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202317.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202318.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202319.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202320.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.71 3.37 12.50 3.98 4.00 0 24639.95 05:53:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202321.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202322.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202323.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.78 2.89 12.01 3.90 4.01 0 9812.62 05:53:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202324.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202325.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 3.88 13.18 3.96 3.99 0 15828.38 05:54:00 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202326.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.946667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202327.00,,,,,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,202328.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202329.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202330.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.71 3.97 12.50 3.96 3.99 0 24639.57 05:54:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202331.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202332.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202333.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.74 2.93 12.01 3.88 4.00 0 9812.32 05:54:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202334.00,,,,,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,202335.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 3.48 13.18 3.96 3.99 0 15828.12 05:54:10 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202336.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.933333 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202337.00,,,,,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,202338.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202339.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202340.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.71 3.11 12.59 3.96 3.99 0 24639.34 05:54:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202341.00,,,,,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,202342.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202343.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.78 2.64 12.01 3.88 4.00 0 9812.12 05:54:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202344.00,,,,,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,202345.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 31.88 3.44 13.18 3.96 3.99 0 15827.73 05:54:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202346.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.933333 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202347.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202348.00,,,,,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,202349.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202350.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.71 3.04 12.50 3.96 3.99 0 24638.99 05:54:25 m : AshtechGps::processRecord() - $GPGGA,202351.00,,,,,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,202352.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202353.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.78 2.64 11.91 3.88 4.00 0 9811.83 05:54:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202354.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202355.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.92 3.23 13.18 3.96 3.99 0 15827.48 05:54:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202356.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.933333 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202357.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202358.00,,,,,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,202359.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202400.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.75 3.26 12.59 3.96 3.99 0 24638.78 05:54:35 m : AshtechGps::processRecord() - $GPGGA,202401.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202402.00,,,,,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,202403.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.78 2.60 12.01 3.88 4.00 0 9811.66 05:54:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202404.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202405.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.92 3.19 13.08 3.96 3.99 0 15827.12 05:54:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202406.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.933333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202407.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202408.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202409.00,,,,,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,202410.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.71 2.96 12.50 3.97 3.99 0 24638.46 05:54:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202411.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202412.00,,,,,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,202413.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.78 2.50 12.01 3.88 4.00 0 9811.38 05:54:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202414.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202415.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.92 3.12 13.08 3.96 3.99 0 15826.88 05:54:50 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202416.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.936667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202417.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202418.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202419.00,,,,,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,202420.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.67 3.15 12.50 3.97 3.99 0 24638.25 05:54:55 m : AshtechGps::processRecord() - $GPGGA,202421.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202422.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202423.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.70 3.69 11.91 3.88 4.00 0 9811.19 05:54:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202424.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202425.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.92 3.23 13.08 3.96 3.99 0 15826.50 05:55:00 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202426.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.936667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202427.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202428.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202429.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202430.00,,,,,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: $aaq0 d- 31.75 2.85 12.50 3.96 3.99 0 24637.93 05:55:05 m : AshtechGps::processRecord() - $GPGGA,202431.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202432.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202433.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.78 2.50 11.91 3.87 4.00 0 9810.92 05:55:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202434.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202435.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.92 3.01 13.08 3.96 3.99 0 15826.25 05:55:10 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202436.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.930000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202437.00,,,,,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,202438.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202439.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202440.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.71 3.19 12.50 3.96 3.99 0 24637.72 05:55:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202441.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202442.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202443.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.78 2.60 11.91 3.87 4.00 0 9810.75 05:55:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202444.00,,,,,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,202445.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 3.23 13.08 3.96 3.99 0 15825.89 05:55:20 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202446.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.930000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202447.00,,,,,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,202448.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202449.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202450.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.71 3.19 12.50 3.96 3.99 0 24637.34 05:55:25 m : AshtechGps::processRecord() - $GPGGA,202451.00,,,,,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,202452.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202453.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.78 2.39 11.91 3.88 4.00 0 9810.46 05:55:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202454.00,,,,,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,202455.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 31.88 3.12 13.08 3.96 3.99 0 15825.65 05:55:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202456.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.933333 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202457.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202458.00,,,,,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,202459.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202500.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.71 3.22 12.50 3.96 3.99 0 24637.12 05:55:35 m : AshtechGps::processRecord() - $GPGGA,202501.00,,,,,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,202502.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202503.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.78 2.50 12.01 3.88 4.00 0 9810.28 05:55:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202504.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202505.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 3.66 13.08 3.96 3.99 0 15825.28 05:55:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202506.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.933333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202507.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202508.00,,,,,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,202509.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202510.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.67 3.19 12.50 3.96 3.99 0 24636.80 05:55:45 m : AshtechGps::processRecord() - $GPGGA,202511.00,,,,,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=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202512.00,,,,,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,202513.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.78 2.71 11.91 3.88 4.00 0 9810.01 05:55:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202514.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202515.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 3.62 13.08 3.96 3.99 0 15825.02 05:55:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202516.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.933333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202517.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202518.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202519.00,,,,,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,202520.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.67 5.01 12.50 3.96 3.99 0 24636.58 05:55:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202521.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202522.00,,,,,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,202523.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 31.74 2.86 11.91 3.88 4.00 0 9809.78 05:55:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202524.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202525.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 3.41 13.08 3.95 3.99 0 15824.65 05:56:00 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202526.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.930000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202527.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202528.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202529.00,,,,,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,202530.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.71 3.75 12.40 3.96 3.99 0 24636.24 05:56:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202531.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202532.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202533.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.66 3.58 11.91 3.87 4.00 0 9809.50 05:56:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202534.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202535.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 4.27 13.08 3.95 3.99 0 15824.39 05:56:10 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202536.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.926666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202537.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202538.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202539.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202540.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.67 3.33 12.50 3.96 3.99 0 24635.98 05:56:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202541.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202542.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202543.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.78 2.75 11.91 3.87 4.00 0 9809.31 05:56:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202544.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202545.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 3.41 13.08 3.95 3.99 0 15823.93 05:56:20 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202546.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.926666 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202547.00,,,,,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,202548.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202549.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202550.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.71 3.22 12.50 3.96 3.99 0 24635.63 05:56:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202551.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202552.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202553.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.74 2.82 11.91 3.87 4.00 0 9809.02 05:56:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202554.00,,,,,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,202555.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 31.88 3.34 13.08 3.95 3.99 0 15823.67 05:56:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202556.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.926666 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202557.00,,,,,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,202558.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202559.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202600.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.67 3.44 12.50 3.96 3.99 0 24635.39 05:56:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202601.00,,,,,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,202602.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202603.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.70 3.18 11.91 3.87 4.00 0 9808.84 05:56:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202604.00,,,,,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,202605.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 31.88 3.30 13.08 3.96 3.99 0 15823.29 05:56:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202606.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.930000 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202607.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202608.00,,,,,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,202609.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202610.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.71 3.19 12.59 3.96 3.99 0 24635.07 05:56:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202611.00,,,,,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,202612.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202613.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.66 4.02 11.91 3.87 4.00 0 9808.55 05:56:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202614.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202615.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 3.52 13.18 3.96 3.99 0 15823.03 05:56:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202616.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.930000 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202617.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202618.00,,,,,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,202619.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202620.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.67 3.26 12.59 3.96 3.99 0 24634.84 05:56:55 m : AshtechGps::processRecord() - $GPGGA,202621.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202622.00,,,,,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,202623.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.74 2.86 12.01 3.87 4.00 0 9808.34 05:56:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202624.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202625.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 3.30 13.18 3.95 3.99 0 15822.63 05:57:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202626.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.926666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202627.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202628.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202629.00,,,,,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,202630.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.71 3.48 12.59 3.96 3.99 0 24634.48 05:57:05 m : AshtechGps::processRecord() - $GPGGA,202631.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202632.00,,,,,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,202633.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 31.74 2.86 11.91 3.87 4.00 0 9808.05 05:57:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202634.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202635.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 3.44 13.18 3.95 3.99 0 15822.38 05:57:10 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202636.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.926666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202637.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202638.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202639.00,,,,,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,202640.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.71 3.15 12.59 3.96 3.99 0 24634.25 05:57:15 m : AshtechGps::processRecord() - $GPGGA,202641.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202642.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202643.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.74 2.71 11.91 3.87 4.00 0 9807.87 05:57:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202644.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202645.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 3.41 13.18 3.95 3.99 0 15821.95 05:57:20 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202646.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.926666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202647.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202648.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202649.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202650.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.71 3.30 12.59 3.96 3.99 0 24633.92 05:57:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202651.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202652.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202653.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.78 2.67 11.91 3.87 4.00 0 9807.59 05:57:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202654.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202655.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 3.26 13.18 3.95 3.99 0 15821.71 05:57:30 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202656.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.926666 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202657.00,,,,,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,202658.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202659.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202700.00,,,,,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: $aaq0 d- 31.67 3.52 12.59 3.96 3.99 0 24633.70 05:57:35 m : AshtechGps::processRecord() - $GPGGA,202701.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202702.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202703.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.74 2.89 11.91 3.87 4.00 0 9807.39 05:57:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202704.00,,,,,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,202705.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 3.52 13.18 3.95 3.99 0 15821.32 05:57:40 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202706.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.926666 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202707.00,,,,,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,202708.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202709.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202710.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.71 3.33 12.59 3.96 3.98 0 24633.36 05:57:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202711.00,,,,,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,202712.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202713.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.74 2.64 11.91 3.87 4.00 0 9807.11 05:57:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202714.00,,,,,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,202715.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 31.88 3.30 13.18 3.95 3.99 0 15821.07 05:57:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202716.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.926666 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202717.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202718.00,,,,,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,202719.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202720.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.67 3.30 12.59 3.96 3.98 0 24633.14 05:57:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202721.00,,,,,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,202722.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202723.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.74 2.82 11.91 3.87 4.00 0 9806.90 05:57:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202724.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202725.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 3.26 13.18 3.95 3.99 0 15820.64 05:58:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202726.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.926666 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202727.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202728.00,,,,,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,202729.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202730.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.746585 under allowable altitude 10.000000. Stopping! : resetting depth trajectory : DepthEnvelope -- Measured altitude 9.746585 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.746585 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.746585 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.71 4.08 12.59 3.96 3.99 0 24632.82 05:58:05 m : AshtechGps::processRecord() - $GPGGA,202731.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.746585 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.746585 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.746585 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.746585 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.071890 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202732.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.071890 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.071890 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.071890 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.071890 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.071890 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202733.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.071890 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.74 2.78 11.91 3.87 4.00 0 9806.62 05:58:08 m : DepthEnvelope -- Measured altitude 8.663553 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.663553 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.663553 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.663553 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202734.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.663553 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.663553 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.663553 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.215711 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.215711 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202735.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.215711 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.96 1.50 13.18 3.95 3.99 0 15820.39 05:58:10 m : DepthEnvelope -- Measured altitude 8.215711 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.215711 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.215711 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.215711 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202736.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.215711 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.926666 : DepthEnvelope -- Measured altitude 7.711961 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.711961 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.711961 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.711961 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202737.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.711961 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.711961 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.711961 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.916942 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.916942 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202738.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.916942 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.916942 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.916942 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.916942 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.916942 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202739.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.397145 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.397145 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.397145 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.397145 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.397145 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202740.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.397145 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.397145 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.397145 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.039845 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.039845 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.79 1.22 12.50 3.96 3.99 0 24632.67 05:58:15 m : AshtechGps::processRecord() - $GPGGA,202741.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.039845 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.039845 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.039845 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.039845 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.039845 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202742.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.596312 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.596312 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.596312 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.596312 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.596312 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202743.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.596312 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $b6q0 d- 31.89 0.97 12.01 3.87 4.00 0 9806.55 05:58:18 m : DepthEnvelope -- Measured altitude 5.596312 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.596312 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.555633 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.555633 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202744.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.555633 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.555633 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.555633 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.555633 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.555633 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202745.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.662912 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.96 1.57 13.18 3.97 4.00 0 15820.26 05:58:20 m : DepthEnvelope -- Measured altitude 5.662912 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.662912 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.662912 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.662912 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202746.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.662912 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.933333 : DepthEnvelope -- Measured altitude 5.662912 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.749844 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.749844 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.749844 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202747.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.749844 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.749844 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.749844 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.749844 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.749844 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202748.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.989675 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.989675 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.989675 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.989675 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.989675 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202749.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.989675 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.989675 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.112046 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.112046 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.112046 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202750.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.112046 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.112046 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.112046 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.112046 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.446967 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.79 0.92 12.59 3.98 4.00 0 24632.54 05:58:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202751.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.446967 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.446967 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.446967 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.446967 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.446967 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202752.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.446967 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.446967 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.465575 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.465575 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.465575 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202753.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.465575 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.85 1.37 12.01 3.89 4.01 0 9806.44 05:58:28 m : DepthEnvelope -- Measured altitude 6.465575 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.465575 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.465575 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.570034 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202754.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.570034 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.570034 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.570034 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.570034 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.570034 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202755.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.570034 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.859429 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.00 1.47 13.18 3.97 4.00 0 15820.17 05:58:30 m : DepthEnvelope -- Measured altitude 6.859429 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.859429 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.859429 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202756.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.859429 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.859429 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : DepthEnvelope -- Measured altitude 6.859429 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.859429 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.956139 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202757.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.956139 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.956139 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.956139 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.956139 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.956139 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202758.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.956139 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.173836 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.173836 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.173836 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.173836 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202759.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.173836 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.173836 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.173836 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.354993 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.354993 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202800.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.354993 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.354993 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.354993 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.354993 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.354993 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.79 1.22 12.59 3.98 4.00 0 24632.45 05:58:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202801.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.354993 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.298253 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.298253 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.298253 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.298253 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202802.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.298253 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.298253 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.298253 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.417678 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.417678 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202803.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.417678 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.89 0.94 11.91 3.89 4.01 0 9806.37 05:58:38 m : DepthEnvelope -- Measured altitude 7.417678 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.417678 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.417678 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.417678 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202804.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.417678 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.444162 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.444162 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.444162 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.444162 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202805.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.444162 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.444162 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.96 1.57 13.18 3.97 4.00 0 15820.04 05:58:40 m : DepthEnvelope -- Measured altitude 7.444162 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.439660 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.439660 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202806.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.439660 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.439660 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : DepthEnvelope -- Measured altitude 7.439660 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.439660 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.439660 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202807.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.600478 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.600478 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.600478 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.600478 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.600478 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202808.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.600478 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.600478 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.600478 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.691745 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.691745 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202809.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.691745 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.691745 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.691745 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.691745 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.691745 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202810.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.747436 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.747436 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.747436 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.747436 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.747436 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.83 0.92 12.59 3.98 4.00 0 24632.32 05:58:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202811.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.747436 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.747436 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.847475 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.847475 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.847475 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202812.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.847475 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.847475 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.847475 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.847475 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.847475 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202813.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.911288 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.89 1.12 11.91 3.89 4.01 0 9806.25 05:58:48 m : DepthEnvelope -- Measured altitude 7.911288 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.911288 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.911288 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.911288 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202814.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.911288 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.911288 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.248517 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.248517 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.248517 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202815.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.248517 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.248517 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 32.00 1.36 13.08 3.97 4.00 0 15819.96 05:58:50 m : DepthEnvelope -- Measured altitude 8.248517 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.248517 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.445482 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202816.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.445482 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.445482 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : DepthEnvelope -- Measured altitude 8.445482 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.445482 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.445482 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202817.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.445482 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.445482 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.598314 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.598314 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.598314 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202818.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.598314 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.598314 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.598314 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.598314 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.928590 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202819.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.928590 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.928590 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.928590 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.928590 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.928590 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202820.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.928590 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.122221 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.122221 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.122221 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.122221 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 31.79 1.26 12.50 3.98 4.00 0 24632.24 05:58:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202821.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.122221 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.122221 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.122221 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.122221 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.254793 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202822.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.254793 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.254793 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.254793 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.254793 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.254793 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202823.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.254793 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.89 1.08 11.91 3.89 4.01 0 9806.18 05:58:58 m : DepthEnvelope -- Measured altitude 9.349585 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.349585 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.349585 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.349585 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202824.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.349585 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.349585 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.349585 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.349585 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.601156 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202825.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.601156 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 32.00 1.57 13.18 3.97 4.00 0 15819.83 05:59:00 m : DepthEnvelope -- Measured altitude 9.601156 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.601156 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.601156 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.601156 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202826.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.601156 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : DepthEnvelope -- Measured altitude 9.787933 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.787933 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.787933 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.787933 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202827.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.787933 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.787933 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.787933 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.934786 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.934786 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202828.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.934786 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.934786 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.934786 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.934786 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.934786 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202829.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.934786 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- altitude 10.241574 over abort altitude 10.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202830.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.87 0.85 12.59 3.98 4.00 0 24632.12 05:59:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202831.00,,,,,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,202832.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202833.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.85 1.77 11.91 3.89 4.01 0 9806.05 05:59:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202834.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202835.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.92 3.23 13.08 3.97 4.00 0 15819.73 05:59:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202836.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.946667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202837.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202838.00,,,,,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,202839.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202840.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.71 3.89 12.50 3.98 4.00 0 24631.93 05:59:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202841.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202842.00,,,,,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,202843.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.70 3.26 11.91 3.89 4.01 0 9805.84 05:59:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202844.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202845.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 4.13 13.08 3.95 3.99 0 15819.32 05:59:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202846.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.940000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202847.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202848.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202849.00,,,,,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,202850.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.71 3.30 12.59 3.96 3.98 0 24631.54 05:59:25 m : AshtechGps::processRecord() - $GPGGA,202851.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202852.00,,,,,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,202853.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 31.78 2.67 11.91 3.87 4.00 0 9805.51 05:59:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202854.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202855.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 3.59 13.08 3.95 3.99 0 15819.06 05:59:30 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202856.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.926666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202857.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202858.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202859.00,,,,,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,202900.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.71 3.04 12.59 3.96 3.98 0 24631.31 05:59:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202901.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202902.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202903.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.78 2.82 11.81 3.87 4.00 0 9805.32 05:59:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202904.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202905.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 3.66 13.08 3.96 3.99 0 15818.67 05:59:40 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202906.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.930000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202907.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202908.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202909.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202910.00,,,,,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: $aaq0 d- 31.67 3.26 12.50 3.96 3.98 0 24630.98 05:59:45 m : AshtechGps::processRecord() - $GPGGA,202911.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202912.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202913.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.74 2.86 11.91 3.88 4.00 0 9805.05 05:59:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202914.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202915.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 3.48 13.08 3.96 3.99 0 15818.44 05:59:50 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202916.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.933333 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202917.00,,,,,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,202918.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202919.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202920.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.67 2.96 12.50 3.96 3.98 0 24630.75 05:59:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202921.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202922.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202923.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.74 2.67 11.91 3.88 4.00 0 9804.86 05:59:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202924.00,,,,,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,202925.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 31.88 3.55 13.08 3.96 3.99 0 15818.09 06:00:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202926.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.933333 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202927.00,,,,,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,202928.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202929.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202930.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.67 3.04 12.50 3.96 3.98 0 24630.43 06:00:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202931.00,,,,,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,202932.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202933.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.78 2.57 11.91 3.88 4.00 0 9804.57 06:00:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202934.00,,,,,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,202935.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 31.88 3.66 13.08 3.96 3.99 0 15817.86 06:00:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202936.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.933333 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202937.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202938.00,,,,,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,202939.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202940.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.71 2.96 12.50 3.96 3.98 0 24630.23 06:00:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202941.00,,,,,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,202942.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202943.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.74 2.50 11.91 3.88 4.00 0 9804.38 06:00:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202944.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202945.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 3.37 13.08 3.95 3.99 0 15817.51 06:00:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202946.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.930000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202947.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202948.00,,,,,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,202949.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202950.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.71 4.26 12.30 3.96 3.99 0 24629.87 06:00:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202951.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202952.00,,,,,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,202953.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.74 2.67 11.91 3.87 4.00 0 9804.09 06:00:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202954.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202955.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 3.55 13.08 3.95 3.99 0 15817.28 06:00:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202956.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.926666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202957.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202958.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,202959.00,,,,,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,203000.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.64 4.71 12.50 3.96 3.99 0 24629.65 06:00:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203001.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203002.00,,,,,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,203003.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.74 2.64 11.91 3.87 4.00 0 9803.88 06:00:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203004.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203005.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 3.48 13.08 3.96 3.99 0 15816.95 06:00:40 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203006.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.930000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203007.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203008.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203009.00,,,,,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,203010.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.71 2.92 12.40 3.96 3.98 0 24629.33 06:00:45 m : AshtechGps::processRecord() - $GPGGA,203011.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203012.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203013.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.74 2.50 11.91 3.87 4.00 0 9803.63 06:00:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203014.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203015.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 3.80 13.08 3.96 3.99 0 15816.73 06:00:50 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203016.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.930000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203017.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203018.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203019.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203020.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.71 3.07 12.30 3.96 3.98 0 24629.06 06:00:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203021.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203022.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203023.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.74 2.57 11.91 3.87 4.00 0 9803.43 06:00:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203024.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203025.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 3.62 13.08 3.95 3.99 0 15816.35 06:01:00 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203026.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.926666 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203027.00,,,,,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,203028.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203029.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203030.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.67 3.26 12.40 3.96 3.98 0 24628.73 06:01:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203031.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203032.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203033.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.74 2.60 11.91 3.87 4.00 0 9803.15 06:01:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203034.00,,,,,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,203035.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 31.84 4.09 12.98 3.95 3.99 0 15816.11 06:01:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203036.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.926666 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203037.00,,,,,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,203038.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203039.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203040.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.67 3.15 12.40 3.96 3.98 0 24628.51 06:01:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203041.00,,,,,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,203042.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203043.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.70 3.51 11.81 3.87 4.00 0 9802.97 06:01:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203044.00,,,,,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,203045.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 31.81 3.95 13.08 3.95 3.99 0 15815.74 06:01:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203046.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.926666 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203047.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203048.00,,,,,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,203049.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203050.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.71 3.37 12.40 3.96 3.98 0 24628.16 06:01:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203051.00,,,,,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,203052.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203053.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.70 2.82 11.81 3.87 4.00 0 9802.67 06:01:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203054.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203055.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.84 3.70 13.08 3.95 3.99 0 15815.50 06:01:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203056.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.926666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203057.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203058.00,,,,,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,203059.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203100.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.60 4.86 12.30 3.96 3.98 0 24627.93 06:01:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203101.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203102.00,,,,,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,203103.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.70 2.89 11.91 3.87 4.00 0 9802.47 06:01:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203104.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203105.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.84 3.66 13.08 3.95 3.99 0 15815.12 06:01:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203106.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.926666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203107.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203108.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203109.00,,,,,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,203110.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.71 3.33 12.40 3.96 3.98 0 24627.60 06:01:45 m : AshtechGps::processRecord() - $GPGGA,203111.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203112.00,,,,,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,203113.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 31.70 2.78 11.91 3.87 3.99 0 9802.17 06:01:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203114.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203115.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.84 3.77 13.08 3.95 3.99 0 15814.87 06:01:50 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203116.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.926666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203117.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203118.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203119.00,,,,,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,203120.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.64 3.30 12.40 3.96 3.98 0 24627.36 06:01:55 m : AshtechGps::processRecord() - $GPGGA,203121.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203122.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203123.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.66 3.69 11.91 3.87 3.99 0 9801.98 06:01:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203124.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203125.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.84 3.52 13.18 3.95 3.99 0 15814.49 06:02:00 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203126.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.926666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203127.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203128.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203129.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203130.00,,,,,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: $aaq0 d- 31.71 3.33 12.40 3.96 3.98 0 24627.01 06:02:05 m : AshtechGps::processRecord() - $GPGGA,203131.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203132.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203133.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.74 2.64 11.81 3.87 3.99 0 9801.70 06:02:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203134.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203135.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.84 3.73 13.18 3.95 3.99 0 15814.23 06:02:10 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203136.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.926666 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203137.00,,,,,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,203138.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203139.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203140.00,,,,,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: $aaq0 d- 31.71 3.37 12.50 3.96 3.98 0 24626.79 06:02:15 m : AshtechGps::processRecord() - $GPGGA,203141.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203142.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203143.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.70 2.82 11.81 3.87 3.99 0 9801.49 06:02:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203144.00,,,,,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,203145.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.84 3.73 13.08 3.95 3.99 0 15813.86 06:02:20 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203146.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.926666 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203147.00,,,,,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,203148.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203149.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203150.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.71 3.26 12.50 3.96 3.98 0 24626.40 06:02:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203151.00,,,,,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,203152.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203153.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.70 2.82 11.81 3.87 4.00 0 9801.20 06:02:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203154.00,,,,,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,203155.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 31.84 3.98 13.08 3.95 3.99 0 15813.62 06:02:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203156.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.926666 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203157.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203158.00,,,,,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,203159.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203200.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.67 3.19 12.59 3.96 3.98 0 24626.16 06:02:35 m : AshtechGps::processRecord() - $GPGGA,203201.00,,,,,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,203202.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203203.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.70 3.07 11.81 3.87 4.00 0 9801.01 06:02:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203204.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203205.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.84 3.62 13.18 3.95 3.99 0 15813.25 06:02:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203206.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.926666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203207.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203208.00,,,,,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,203209.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203210.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.67 3.37 12.50 3.96 3.98 0 24625.82 06:02:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203211.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203212.00,,,,,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,203213.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.74 3.76 11.81 3.87 4.00 0 9800.72 06:02:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203214.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203215.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.84 4.20 13.18 3.95 3.99 0 15813.00 06:02:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203216.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.926666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203217.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203218.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203219.00,,,,,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,203220.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.64 3.19 12.50 3.96 3.98 0 24625.59 06:02:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203221.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203222.00,,,,,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,203223.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 31.70 2.82 11.91 3.87 4.00 0 9800.52 06:02:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203224.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203225.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.81 3.77 13.08 3.95 3.99 0 15812.62 06:03:00 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203226.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.926666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203227.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203228.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203229.00,,,,,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,203230.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.67 3.04 12.50 3.96 3.98 0 24625.20 06:03:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203231.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203232.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203233.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.74 2.67 11.91 3.87 4.00 0 9800.23 06:03:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203234.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203235.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.84 3.84 13.08 3.95 3.99 0 15812.38 06:03:10 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203236.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.926666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203237.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203238.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203239.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203240.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.67 3.26 12.59 3.96 3.98 0 24624.97 06:03:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203241.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203242.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203243.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.70 3.44 11.91 3.87 4.00 0 9800.03 06:03:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203244.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203245.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.84 3.59 13.08 3.95 3.99 0 15811.99 06:03:20 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203246.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.926666 : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203247.00,,,,,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,203248.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203249.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.902006 under allowable altitude 10.000000. Stopping! : resetting depth trajectory : DepthEnvelope -- Measured altitude 9.902006 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.902006 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.902006 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203250.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.902006 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.902006 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.902006 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.362865 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.362865 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.64 3.48 12.59 3.96 3.98 0 24624.63 06:03:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203251.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.362865 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.362865 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.362865 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.362865 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.362865 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203252.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.862985 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.862985 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.862985 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.862985 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.862985 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203253.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.862985 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.85 1.05 11.91 3.87 4.00 0 9799.78 06:03:28 m : DepthEnvelope -- Measured altitude 8.862985 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.862985 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.469890 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.469890 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203254.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.469890 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.469890 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.469890 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.469890 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.469890 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203255.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.543352 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.543352 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 31.92 1.47 13.08 3.95 3.99 0 15811.82 06:03:30 m : DepthEnvelope -- Measured altitude 7.543352 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.543352 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.543352 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203256.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.543352 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.543352 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.926666 : DepthEnvelope -- Measured altitude 7.017707 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.017707 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.017707 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203257.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.017707 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.017707 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.017707 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.017707 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.017707 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203258.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.427303 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.427303 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.427303 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.427303 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.427303 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203259.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.427303 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.427303 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.068489 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.068489 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.068489 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203300.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.068489 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.068489 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.068489 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.068489 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.068489 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 31.79 1.26 12.50 3.96 3.98 0 24624.56 06:03:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203301.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.031381 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.031381 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.031381 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.031381 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.031381 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203302.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.031381 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.031381 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.257946 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.257946 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.257946 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203303.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.257946 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.78 1.37 11.91 3.87 4.00 0 9799.70 06:03:38 m : DepthEnvelope -- Measured altitude 6.257946 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.257946 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.257946 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.369863 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203304.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.369863 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.369863 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.369863 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.369863 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.369863 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203305.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.369863 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.369863 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.92 1.57 13.18 3.96 4.00 0 15811.67 06:03:40 m : DepthEnvelope -- Measured altitude 6.677648 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.677648 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.677648 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203306.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.677648 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.677648 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.930000 : DepthEnvelope -- Measured altitude 6.677648 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.677648 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.108868 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203307.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.108868 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.108868 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.108868 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.108868 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.108868 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203308.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.108868 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.364497 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.364497 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.364497 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.364497 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203309.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.364497 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.364497 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.364497 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.364497 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.464619 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203310.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.464619 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.464619 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.464619 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.464619 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.464619 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.79 0.89 12.50 3.97 4.00 0 24624.41 06:03:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203311.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.464619 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.609246 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.609246 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.609246 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.609246 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203312.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.609246 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.609246 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.609246 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.799341 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.799341 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203313.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.799341 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.85 1.12 11.91 3.89 4.01 0 9799.59 06:03:48 m : DepthEnvelope -- Measured altitude 7.799341 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.799341 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.799341 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.799341 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203314.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.799341 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.935850 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.935850 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.935850 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.935850 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203315.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.935850 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.935850 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.96 1.54 13.18 3.96 4.00 0 15811.59 06:03:50 m : DepthEnvelope -- Measured altitude 7.935850 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.234014 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.234014 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203316.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.234014 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.234014 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.940000 : DepthEnvelope -- Measured altitude 8.234014 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.234014 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.234014 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203317.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.325198 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.325198 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.325198 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.325198 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.325198 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203318.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.325198 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.325198 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.325198 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.544375 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.544375 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203319.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.544375 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.544375 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.544375 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.544375 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.544375 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203320.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.535453 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.535453 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.535453 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.535453 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.535453 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.79 0.89 12.59 3.97 4.00 0 24624.33 06:03:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203321.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.535453 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.535453 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.535453 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.634841 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.634841 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203322.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.634841 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.634841 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.634841 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.634841 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.634841 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203323.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.457683 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.85 0.90 11.81 3.89 4.01 0 9799.51 06:03:58 m : DepthEnvelope -- Measured altitude 8.457683 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.457683 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.457683 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.457683 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203324.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.457683 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.457683 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.523655 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.523655 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.523655 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203325.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.523655 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.00 1.14 13.08 3.97 4.00 0 15811.46 06:04:00 m : DepthEnvelope -- Measured altitude 8.523655 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.523655 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.523655 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.523655 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203326.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.569225 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.943333 : DepthEnvelope -- Measured altitude 8.569225 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.569225 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.569225 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.569225 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203327.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.569225 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.569225 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.541071 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.541071 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.541071 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203328.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.541071 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.541071 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.541071 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.541071 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.770636 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203329.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.770636 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.770636 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.770636 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.770636 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.770636 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203330.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.770636 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.770636 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.800587 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.800587 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.800587 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.79 0.85 12.50 3.97 4.00 0 24624.24 06:04:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203331.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.800587 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.800587 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.800587 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.800587 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.941734 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203332.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.941734 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.941734 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.941734 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.941734 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.941734 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203333.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.941734 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $b6q0 d- 31.85 0.97 11.91 3.89 4.01 0 9799.40 06:04:08 m : DepthEnvelope -- Measured altitude 8.941734 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.163212 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.163212 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.163212 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203334.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.163212 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.163212 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.163212 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.163212 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.405983 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203335.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.405983 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.00 1.21 13.08 3.97 4.00 0 15811.38 06:04:10 m : DepthEnvelope -- Measured altitude 9.405983 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.405983 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.405983 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.405983 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203336.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.405983 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.943333 : DepthEnvelope -- Measured altitude 9.620668 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.620668 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.620668 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.620668 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203337.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.620668 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.620668 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.620668 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.620668 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.859262 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203338.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.859262 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.859262 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.859262 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.859262 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.859262 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203339.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.859262 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- altitude 10.064952 over abort altitude 10.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203340.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.79 0.85 12.50 3.97 4.00 0 24624.17 06:04:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203341.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203342.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203343.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.82 1.59 11.91 3.89 4.01 0 9799.33 06:04:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203344.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203345.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 3.08 13.08 3.96 3.99 0 15811.19 06:04:20 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203346.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.940000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203347.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203348.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203349.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203350.00,,,,,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: $aaq0 d- 31.64 3.56 12.50 3.96 3.99 0 24623.90 06:04:25 m : AshtechGps::processRecord() - $GPGGA,203351.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203352.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203353.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.70 3.15 11.81 3.88 4.00 0 9799.02 06:04:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203354.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203355.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.84 4.09 13.08 3.96 3.99 0 15810.88 06:04:30 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203356.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.933333 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203357.00,,,,,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,203358.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203359.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203400.00,,,,,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: $aaq0 d- 31.71 3.07 12.50 3.96 3.99 0 24623.64 06:04:35 m : AshtechGps::processRecord() - $GPGGA,203401.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203402.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203403.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.70 2.78 11.81 3.88 4.00 0 9798.81 06:04:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203404.00,,,,,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,203405.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 3.41 13.08 3.95 3.99 0 15810.48 06:04:40 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203406.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.930000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203407.00,,,,,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,203408.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203409.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203410.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.67 2.89 12.50 3.96 3.98 0 24623.29 06:04:45 m : AshtechGps::processRecord() - $GPGGA,203411.00,,,,,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,203412.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203413.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.74 2.71 11.81 3.87 4.00 0 9798.47 06:04:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203414.00,,,,,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,203415.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 31.88 3.41 13.08 3.95 3.99 0 15810.23 06:04:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203416.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.926666 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203417.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203418.00,,,,,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,203419.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203420.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.67 2.74 12.50 3.96 3.98 0 24623.07 06:04:55 m : AshtechGps::processRecord() - $GPGGA,203421.00,,,,,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,203422.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203423.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.74 2.60 11.91 3.87 4.00 0 9798.28 06:04:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203424.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203425.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 3.41 13.08 3.95 3.99 0 15809.86 06:05:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203426.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.926666 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203427.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Waypoint has set the state to finished. : Waypoint (4074898.0, 598612.0), reached at t = 4623.79 (wplog) : Vehicle Position is error is (0.3, 2.3) : LayeredControl::execute() -- (t = 4623.793248) Behavior waypoint_yoyo:130985 has changed to state Finished : LayeredControl - sending BehaviorFinished:130985 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,203428.00,,,,,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,203429.00,,,,,0,00,,,M,,M,,*46 : 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,203430.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : 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 ascend after pos 2 : DynoLayeredControl::insert - stack now contains 16 behaviors : LayeredControl::execute() -- (t = 4627.143019) Behavior ascend:1011495 has changed to state Active : LayeredControl - ascend BehaviorStarted:1011495 msg to VcsServer : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.71 2.67 12.50 3.96 3.98 0 24622.74 06:05:05 m : AshtechGps::processRecord() - $GPGGA,203431.00,,,,,0,00,,,M,,M,,*4F : 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,203432.00,,,,,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,203433.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.74 2.31 11.81 3.87 4.00 0 9798.00 06:05:08 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,203434.00,,,,,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,203435.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 2.98 12.98 3.95 3.99 0 15809.62 06:05:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203436.00,,,,,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 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.926666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203437.00,,,,,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,203438.00,,,,,0,00,,,M,,M,,*46 : 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,203439.00,,,,,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,203440.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.71 2.63 12.50 3.96 3.98 0 24622.53 06:05:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203441.00,,,,,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,203442.00,,,,,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,203443.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.70 2.57 11.81 3.87 4.00 0 9797.82 06:05:18 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,203444.00,,,,,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,203445.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.84 3.48 12.98 3.95 3.99 0 15809.27 06:05:20 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,203446.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.926666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203447.00,,,,,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,203448.00,,,,,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 : AshtechGps::processRecord() - $GPGGA,203449.00,,,,,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,203450.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.71 2.67 12.50 3.96 3.98 0 24622.23 06:05:25 m : AshtechGps::processRecord() - $GPGGA,203451.00,,,,,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,203452.00,,,,,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,203453.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.74 2.28 11.81 3.87 4.00 0 9797.54 06:05:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203454.00,,,,,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,203455.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 3.01 12.98 3.95 3.99 0 15809.02 06:05:30 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,203456.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.926666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203457.00,,,,,0,00,,,M,,M,,*4F : 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,203458.00,,,,,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,203459.00,,,,,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 : AshtechGps::processRecord() - $GPGGA,203500.00,,,,,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: $aaq0 d- 31.67 2.74 12.40 3.96 3.98 0 24622.03 06:05:35 m : AshtechGps::processRecord() - $GPGGA,203501.00,,,,,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,203502.00,,,,,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,203503.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.74 2.35 11.91 3.87 4.00 0 9797.36 06:05:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203504.00,,,,,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,203505.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 3.16 12.98 3.95 3.99 0 15808.66 06:05:40 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,203506.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.926666 : 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,203507.00,,,,,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,203508.00,,,,,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,203509.00,,,,,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 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203510.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.60 4.15 12.40 3.96 3.98 0 24621.74 06:05:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203511.00,,,,,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,203512.00,,,,,0,00,,,M,,M,,*4F : 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,203513.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.74 2.46 11.81 3.87 4.00 0 9797.07 06:05:48 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,203514.00,,,,,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,203515.00,,,,,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 : BluefinBatt Reply: $c0q0 d- 31.88 3.19 13.08 3.95 3.99 0 15808.42 06:05:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203516.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.926666 : 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,203517.00,,,,,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,203518.00,,,,,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 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203519.00,,,,,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,203520.00,,,,,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: $aaq0 d- 31.71 2.70 12.30 3.96 3.98 0 24621.53 06:05:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203521.00,,,,,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,203522.00,,,,,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,203523.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.74 2.35 11.81 3.87 4.00 0 9796.88 06:05:58 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,203524.00,,,,,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,203525.00,,,,,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 : BluefinBatt Reply: $c0q0 d- 31.84 3.08 12.98 3.95 3.98 0 15808.06 06:06:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203526.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.926666 : 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,203527.00,,,,,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,203528.00,,,,,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,203529.00,,,,,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 : AshtechGps::processRecord() - $GPGGA,203530.00,,,,,0,00,,,M,,M,,*4F : 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: $aaq0 d- 31.71 2.85 12.40 3.96 3.98 0 24621.24 06:06:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203531.00,,,,,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,203532.00,,,,,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,203533.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.74 2.35 11.81 3.87 3.99 0 9796.60 06:06:08 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,203534.00,,,,,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,203535.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 3.08 13.08 3.95 3.98 0 15807.82 06:06:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203536.00,,,,,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 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.926666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203537.00,,,,,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,203538.00,,,,,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,203539.00,,,,,0,00,,,M,,M,,*46 : 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,203540.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.67 3.07 12.30 3.96 3.98 0 24621.05 06:06:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203541.00,,,,,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,203542.00,,,,,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,203543.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.70 2.42 11.81 3.87 3.99 0 9796.42 06:06:18 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,203544.00,,,,,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,203545.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl::execute() -- (t = 4701.397932) Behavior ascend:1011495 has changed to state Finished : LayeredControl - sending BehaviorFinished:1011495 msg to VcsServer : *** Stack empty after processing. Waiting on VCS... : BluefinBatt Reply: $c0q0 d- 31.84 3.41 12.98 3.95 3.98 0 15807.44 06:06:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203546.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.926666 : DynoLayeredControlServer insertBehaves : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203547.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion getgps after pos 2 : DynoLayeredControl::insert - stack now contains 17 behaviors : LayeredControl::execute() -- (t = 4703.547785) Behavior getgps:1014967 has changed to state Active : LayeredControl - getgps BehaviorStarted:1014967 msg to VcsServer : 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,203548.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203549.00,,,,,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,203550.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 31.71 1.41 12.30 3.96 3.98 0 24620.74 06:06:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203551.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203552.00,,,,,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,203553.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $b6q0 d- 31.74 1.77 11.81 3.87 4.00 0 9796.21 06:06:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203554.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203555.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.92 1.21 12.98 3.95 3.98 0 15807.27 06:06:30 m : 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,203556.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.926666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203557.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203558.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203559.00,,,,,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,203600.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.75 0.92 12.30 3.96 3.98 0 24620.64 06:06:35 m : AshtechGps::processRecord() - $GPGGA,203601.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203602.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203603.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.82 1.05 11.81 3.87 4.00 0 9796.14 06:06:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203604.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203605.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 3.01 12.98 3.96 4.00 0 15807.13 06:06:40 m : 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,203606.00,3648.87235,N,12153.26434,W,1,06,1.6,-4.68,M,-32.59,M,,*78 : GetGPS::execute() -- Got a new GPS hit: 1 of 30 needed : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.930000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203607.00,3648.87269,N,12153.26448,W,1,06,1.6,-5.31,M,-32.59,M,,*76 : GetGPS::execute() -- Got a new GPS hit: 2 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,203608.00,3648.87337,N,12153.26463,W,1,06,1.6,-6.73,M,-32.59,M,,*7F : GetGPS::execute() -- Got a new GPS hit: 3 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,203609.00,3648.87348,N,12153.26492,W,1,06,1.6,-5.95,M,-32.59,M,,*73 : GetGPS::execute() -- Got a new GPS hit: 4 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,203610.00,3648.87353,N,12153.26478,W,1,06,1.6,-5.78,M,-32.59,M,,*76 : GetGPS::execute() -- Got a new GPS hit: 5 of 30 needed : BluefinBatt Reply: $aaq0 d- 31.75 1.14 12.30 3.96 3.99 0 24620.52 06:06:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203611.00,3648.87373,N,12153.26481,W,1,06,1.6,-5.69,M,-32.59,M,,*73 : 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,203612.00,3648.87399,N,12153.26446,W,1,06,1.6,-5.30,M,-32.59,M,,*73 : GetGPS::execute() -- Got a new GPS hit: 7 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,203613.00,3648.87379,N,12153.26414,W,1,07,1.2,-5.25,M,-32.59,M,,*7A : BluefinBatt Reply: $b6q0 d- 31.82 1.15 11.81 3.89 4.01 0 9796.01 06:06:48 m : GetGPS::execute() -- Got a new GPS hit: 8 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203614.00,3648.87402,N,12153.26362,W,1,07,1.2,-5.63,M,-32.59,M,,*72 : GetGPS::execute() -- Got a new GPS hit: 9 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,203615.00,3648.87406,N,12153.26354,W,1,07,1.2,-5.83,M,-32.59,M,,*7C : GetGPS::execute() -- Got a new GPS hit: 10 of 30 needed : BluefinBatt Reply: $c0q0 d- 32.00 1.29 12.98 3.96 4.00 0 15807.02 06:06:50 m : 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,203616.00,3648.87406,N,12153.26322,W,1,07,1.2,-5.91,M,-32.59,M,,*7D : GetGPS::execute() -- Got a new GPS hit: 11 of 30 needed : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.936667 : 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,203617.00,3648.87426,N,12153.26320,W,1,07,1.2,-6.44,M,-32.59,M,,*77 : 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,203618.00,3648.87454,N,12153.26325,W,1,07,1.2,-6.47,M,-32.59,M,,*7B : 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,203619.00,3648.87491,N,12153.26336,W,1,07,1.2,-6.43,M,-32.59,M,,*75 : GetGPS::execute() -- Got a new GPS hit: 14 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,203620.00,3648.87529,N,12153.26359,W,1,07,1.2,-5.76,M,-32.59,M,,*71 : GetGPS::execute() -- Got a new GPS hit: 15 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.75 1.33 12.30 3.96 3.99 0 24620.43 06:06:55 m : AshtechGps::processRecord() - $GPGGA,203621.00,3648.87555,N,12153.26355,W,1,07,1.2,-5.16,M,-32.59,M,,*71 : GetGPS::execute() -- Got a new GPS hit: 16 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,203622.00,3648.87567,N,12153.26324,W,1,07,1.2,-4.05,M,-32.59,M,,*76 : GetGPS::execute() -- Got a new GPS hit: 17 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,203623.00,3648.87561,N,12153.26234,W,1,07,1.2,-3.60,M,-32.59,M,,*75 : GetGPS::execute() -- Got a new GPS hit: 18 of 30 needed : BluefinBatt Reply: $b6q0 d- 31.82 1.12 11.81 3.89 4.01 0 9795.93 06:06:58 m : 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,203624.00,3648.87561,N,12153.26153,W,1,07,1.2,-3.46,M,-32.59,M,,*74 : GetGPS::execute() -- Got a new GPS hit: 19 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203625.00,3648.87567,N,12153.26059,W,1,07,1.2,-4.61,M,-32.59,M,,*7A : GetGPS::execute() -- Got a new GPS hit: 20 of 30 needed : BluefinBatt Reply: $c0q0 d- 31.92 1.54 12.98 3.96 4.00 0 15806.85 06:07:00 m : 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,203626.00,3648.87598,N,12153.26071,W,1,07,1.2,-6.26,M,-32.59,M,,*72 : GetGPS::execute() -- Got a new GPS hit: 21 of 30 needed : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.936667 : 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,203627.00,3648.87621,N,12153.26090,W,1,07,1.2,-6.37,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,203628.00,3648.87655,N,12153.26116,W,1,07,1.2,-5.98,M,-32.59,M,,*78 : GetGPS::execute() -- Got a new GPS hit: 23 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,203629.00,3648.87668,N,12153.26102,W,1,07,1.2,-5.63,M,-32.59,M,,*76 : GetGPS::execute() -- Got a new GPS hit: 24 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,203630.00,3648.87695,N,12153.26091,W,1,07,1.2,-5.62,M,-32.59,M,,*76 : GetGPS::execute() -- Got a new GPS hit: 25 of 30 needed : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 31.75 1.18 12.40 3.97 3.99 0 24620.24 06:07:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203631.00,3648.87708,N,12153.26093,W,1,07,1.2,-5.14,M,-32.59,M,,*71 : 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,203632.00,3648.87705,N,12153.26049,W,1,07,1.2,-4.17,M,-32.59,M,,*7A : 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 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203633.00,3648.87711,N,12153.25969,W,1,07,1.2,-3.95,M,-32.59,M,,*7B : BluefinBatt Reply: $b6q0 d- 31.82 1.12 11.81 3.89 4.01 0 9795.80 06:07:08 m : GetGPS::execute() -- Got a new GPS hit: 28 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,203634.00,3648.87726,N,12153.25916,W,1,07,1.2,-4.40,M,-32.59,M,,*7F : GetGPS::execute() -- Got a new GPS hit: 29 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203635.00,3648.87736,N,12153.25882,W,1,07,1.2,-5.55,M,-32.59,M,,*76 : GetGPS::execute() -- Got a new GPS hit: 30 of 30 needed : LayeredControl::execute() -- (t = 4751.394507) Behavior getgps:1014967 has changed to state Finished : LayeredControl - sending BehaviorFinished:1014967 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 : BluefinBatt Reply: $c0q0 d- 31.92 1.39 12.98 3.96 4.00 0 15806.74 06:07:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203636.00,3648.87761,N,12153.25894,W,1,07,1.2,-5.49,M,-32.59,M,,*7D : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.940000 : 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,203637.00,3648.87787,N,12153.25874,W,1,07,1.2,-5.56,M,-32.59,M,,*74 : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion setpoint after pos 2 : DynoLayeredControl::insert - stack now contains 18 behaviors : LayeredControl::execute() -- (t = 4754.134320) Behavior setpoint:1016834 has changed to state Active : LayeredControl - setpoint BehaviorStarted:1016834 msg to VcsServer : 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,203638.00,3648.87809,N,12153.25866,W,1,07,1.2,-5.17,M,-32.59,M,,*74 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203639.00,3648.87815,N,12153.25830,W,1,07,1.2,-4.94,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,203640.00,3648.87827,N,12153.25789,W,1,07,1.2,-5.37,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 : BluefinBatt Reply: $aaq0 d- 31.75 1.07 12.30 3.97 3.99 0 24620.13 06:07:15 m : AshtechGps::processRecord() - $GPGGA,203641.00,3648.87838,N,12153.25788,W,1,07,1.2,-5.58,M,-32.59,M,,*7C : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203642.00,3648.87847,N,12153.25792,W,1,07,1.2,-5.16,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,203643.00,3648.87835,N,12153.25724,W,1,07,1.2,-4.25,M,-32.59,M,,*7E : BluefinBatt Reply: $b6q0 d- 31.82 1.51 11.81 3.89 4.01 0 9795.67 06:07:18 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,203644.00,3648.87841,N,12153.25654,W,1,07,1.2,-4.47,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,203645.00,3648.87857,N,12153.25606,W,1,07,1.2,-5.37,M,-32.59,M,,*7F : BluefinBatt Reply: $c0q0 d- 31.92 1.50 13.08 3.96 4.00 0 15806.58 06:07:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203646.00,3648.87870,N,12153.25595,W,1,07,1.2,-5.74,M,-32.59,M,,*77 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.940000 : 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,203647.00,3648.87898,N,12153.25604,W,1,07,1.2,-5.78,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,203648.00,3648.87912,N,12153.25592,W,1,07,1.2,-5.48,M,-32.59,M,,*74 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203649.00,3648.87922,N,12153.25576,W,1,07,1.2,-4.95,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,203650.00,3648.87911,N,12153.25513,W,1,07,1.2,-4.33,M,-32.59,M,,*7A : 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: $aaq0 d- 31.75 1.37 12.30 3.97 3.99 0 24620.00 06:07:25 m : AshtechGps::processRecord() - $GPGGA,203651.00,3648.87901,N,12153.25429,W,1,07,1.2,-4.49,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,203652.00,3648.87897,N,12153.25383,W,1,07,1.2,-5.15,M,-32.59,M,,*7D : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203653.00,3648.87900,N,12153.25371,W,1,07,1.2,-5.42,M,-32.59,M,,*7C : BluefinBatt Reply: $b6q0 d- 31.85 1.15 11.81 3.89 4.01 0 9795.54 06:07:28 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,203654.00,3648.87919,N,12153.25349,W,1,07,1.2,-5.49,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,203655.00,3648.87936,N,12153.25328,W,1,07,1.2,-5.78,M,-32.59,M,,*7A : BluefinBatt Reply: $c0q0 d- 32.00 1.18 12.98 3.96 4.00 0 15806.43 06:07:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203656.00,3648.87970,N,12153.25355,W,1,07,1.2,-6.07,M,-32.59,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.940000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203657.00,3648.87980,N,12153.25372,W,1,07,1.2,-5.18,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 : AshtechGps::processRecord() - $GPGGA,203658.00,3648.87978,N,12153.25312,W,1,07,1.2,-3.74,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,203659.00,3648.87947,N,12153.25164,W,1,07,1.2,-3.54,M,-32.59,M,,*72 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203700.00,3648.87983,N,12153.25095,W,1,07,1.2,-4.84,M,-32.59,M,,*72 : 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: $aaq0 d- 31.79 0.89 12.30 3.97 3.99 0 24619.92 06:07:35 m : AshtechGps::processRecord() - $GPGGA,203701.00,3648.87971,N,12153.25072,W,1,07,1.2,-5.37,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,203702.00,3648.88005,N,12153.25076,W,1,07,1.2,-5.15,M,-32.59,M,,*7C : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203703.00,3648.87994,N,12153.25038,W,1,07,1.2,-5.41,M,-32.59,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $b6q0 d- 31.82 1.26 11.81 3.89 4.01 0 9795.45 06:07:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203704.00,3648.88008,N,12153.25033,W,1,07,1.2,-5.43,M,-32.59,M,,*75 : 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,203705.00,3648.88008,N,12153.25020,W,1,07,1.2,-4.90,M,-32.59,M,,*79 : BluefinBatt Reply: $c0q0 d- 31.92 1.68 12.98 3.96 4.00 0 15806.27 06:07:40 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,203706.00,3648.88022,N,12153.24987,W,1,07,1.2,-4.56,M,-32.59,M,,*7D : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.940000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203707.00,3648.88032,N,12153.24946,W,1,07,1.2,-4.86,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,203708.00,3648.88034,N,12153.24933,W,1,07,1.2,-5.26,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,203709.00,3648.88006,N,12153.24924,W,1,07,1.2,-5.68,M,-32.59,M,,*71 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203710.00,3648.88008,N,12153.24902,W,1,07,1.2,-4.90,M,-32.59,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 31.75 1.37 12.30 3.97 3.99 0 24619.78 06:07:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203711.00,3648.88038,N,12153.24853,W,1,07,1.2,-4.15,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,203712.00,3648.87996,N,12153.24759,W,1,06,1.4,-5.76,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,203713.00,3648.88094,N,12153.24737,W,1,07,1.2,-5.18,M,-32.59,M,,*7A : BluefinBatt Reply: $b6q0 d- 31.82 1.23 11.81 3.89 4.01 0 9795.33 06:07:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203714.00,3648.88080,N,12153.24735,W,1,07,1.2,-5.88,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,203715.00,3648.88086,N,12153.24772,W,1,07,1.2,-5.77,M,-32.59,M,,*77 : BluefinBatt Reply: $c0q0 d- 31.96 1.25 12.98 3.96 4.00 0 15806.14 06:07:50 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,203716.00,3648.88068,N,12153.24760,W,1,07,1.2,-4.73,M,-32.59,M,,*72 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.940000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203717.00,3648.88087,N,12153.24699,W,1,07,1.2,-3.84,M,-32.59,M,,*7A : 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,203718.00,3648.88096,N,12153.24605,W,1,07,1.2,-3.94,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,203719.00,3648.88097,N,12153.24536,W,1,07,1.2,-4.87,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,203720.00,3648.88116,N,12153.24524,W,1,07,1.2,-5.80,M,-32.59,M,,*70 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.79 1.07 12.30 3.97 3.99 0 24619.64 06:07:55 m : AshtechGps::processRecord() - $GPGGA,203721.00,3648.88121,N,12153.24543,W,1,07,1.2,-5.99,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 : AshtechGps::processRecord() - $GPGGA,203722.00,3648.88110,N,12153.24552,W,1,07,1.2,-5.22,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,203723.00,3648.88117,N,12153.24528,W,1,07,1.2,-4.99,M,-32.59,M,,*77 : BluefinBatt Reply: $b6q0 d- 31.82 1.26 11.81 3.89 4.01 0 9795.24 06:07:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203724.00,3648.88112,N,12153.24494,W,1,07,1.2,-4.97,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,203725.00,3648.88144,N,12153.24468,W,1,07,1.2,-4.97,M,-32.59,M,,*7C : BluefinBatt Reply: $c0q0 d- 31.92 1.54 12.89 3.96 4.00 0 15805.98 06:08:00 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,203726.00,3648.88137,N,12153.24432,W,1,07,1.2,-4.63,M,-32.59,M,,*7F : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.940000 : 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,203727.00,3648.88149,N,12153.24395,W,1,07,1.2,-4.45,M,-32.59,M,,*79 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203728.00,3648.88125,N,12153.24342,W,1,07,1.2,-4.49,M,-32.59,M,,*7A : 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,203729.00,3648.88138,N,12153.24294,W,1,07,1.2,-5.17,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,203730.00,3648.88140,N,12153.24281,W,1,07,1.2,-5.63,M,-32.59,M,,*77 : BluefinBatt Reply: $aaq0 d- 31.67 2.67 12.30 3.97 4.00 0 24619.50 06:08:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203731.00,3648.88153,N,12153.24285,W,1,07,1.2,-5.41,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,203732.00,3648.88157,N,12153.24277,W,1,07,1.2,-5.41,M,-32.59,M,,*7A : 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,203733.00,3648.88161,N,12153.24266,W,1,07,1.2,-5.16,M,-32.59,M,,*7C : BluefinBatt Reply: $b6q0 d- 31.82 1.26 11.81 3.89 4.01 0 9795.10 06:08:08 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,203734.00,3648.88164,N,12153.24236,W,1,07,1.2,-4.75,M,-32.59,M,,*7F : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203735.00,3648.88128,N,12153.24178,W,1,07,1.2,-4.94,M,-32.59,M,,*70 : BluefinBatt Reply: $c0q0 d- 31.96 1.32 12.98 3.96 4.00 0 15805.88 06:08:10 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,203736.00,3648.88148,N,12153.24144,W,1,07,1.2,-4.93,M,-32.59,M,,*7D : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.940000 : 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,203737.00,3648.88134,N,12153.24117,W,1,07,1.2,-5.36,M,-32.59,M,,*7F : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203738.00,3648.88154,N,12153.24116,W,1,07,1.2,-5.55,M,-32.59,M,,*72 : 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,203739.00,3648.88162,N,12153.24113,W,1,07,1.2,-4.85,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,203740.00,3648.88168,N,12153.24071,W,1,07,1.2,-4.48,M,-32.59,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 31.79 0.96 12.30 3.97 4.00 0 24619.38 06:08:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203741.00,3648.88184,N,12153.24025,W,1,07,1.2,-4.91,M,-32.59,M,,*79 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203742.00,3648.88171,N,12153.24003,W,1,07,1.2,-4.84,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,203743.00,3648.88177,N,12153.23960,W,1,07,1.2,-4.39,M,-32.59,M,,*7A : BluefinBatt Reply: $b6q0 d- 31.82 1.51 11.81 3.89 4.01 0 9795.01 06:08:18 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,203744.00,3648.88160,N,12153.23902,W,1,07,1.2,-5.07,M,-32.59,M,,*73 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203745.00,3648.88159,N,12153.23887,W,1,07,1.2,-5.49,M,-32.59,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 31.96 1.50 12.89 3.96 3.99 0 15805.71 06:08:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203746.00,3648.88166,N,12153.23888,W,1,07,1.2,-5.10,M,-32.59,M,,*72 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.940000 : 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,203747.00,3648.88176,N,12153.23865,W,1,07,1.2,-4.99,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,203748.00,3648.88186,N,12153.23846,W,1,07,1.2,-5.47,M,-32.59,M,,*72 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203749.00,3648.88203,N,12153.23853,W,1,07,1.2,-5.44,M,-32.59,M,,*7A : 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,203750.00,3648.87606,N,12153.23822,W,1,07,1.2,-12.88,M,-32.59,M,,*4C : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 31.75 1.66 12.30 3.97 4.00 0 24619.25 06:08:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203751.00,3648.88217,N,12153.23793,W,1,06,1.6,-2.99,M,-32.59,M,,*77 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203752.00,3648.88222,N,12153.23766,W,1,06,1.6,-3.74,M,-32.59,M,,*7A : 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,203753.00,3648.88224,N,12153.23719,W,1,06,1.6,-3.39,M,-32.59,M,,*7C : BluefinBatt Reply: $b6q0 d- 31.85 1.33 11.81 3.89 4.01 0 9794.87 06:08:28 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,203754.00,3648.88199,N,12153.23637,W,1,06,1.6,-3.41,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 : AshtechGps::processRecord() - $GPGGA,203755.00,3648.88196,N,12153.23573,W,1,06,1.6,-4.68,M,-32.59,M,,*7D : BluefinBatt Reply: $c0q0 d- 31.96 1.57 12.98 3.96 3.99 0 15805.61 06:08:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203756.00,3648.88192,N,12153.23557,W,1,06,1.6,-5.86,M,-32.59,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.940000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203757.00,3648.88218,N,12153.23566,W,1,06,1.6,-5.99,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,203758.00,3648.88212,N,12153.23567,W,1,06,1.6,-5.61,M,-32.59,M,,*72 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203759.00,3648.88227,N,12153.23555,W,1,06,1.6,-5.76,M,-32.59,M,,*72 : 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,203800.00,3648.88224,N,12153.23560,W,1,06,1.6,-5.33,M,-32.59,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 31.75 1.41 12.30 3.97 4.00 0 24619.15 06:08:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203801.00,3648.88241,N,12153.23560,W,1,06,1.6,-5.14,M,-32.59,M,,*72 : 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,203802.00,3648.88215,N,12153.23538,W,1,06,1.6,-3.86,M,-32.59,M,,*70 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203803.00,3648.88208,N,12153.23446,W,1,06,1.6,-3.13,M,-32.59,M,,*79 : BluefinBatt Reply: $b6q0 d- 31.85 1.23 11.71 3.89 4.01 0 9794.79 06:08:38 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,203804.00,3648.88181,N,12153.23342,W,1,06,1.6,-3.80,M,-32.59,M,,*75 : 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,203805.00,3648.88191,N,12153.23289,W,1,06,1.6,-4.44,M,-32.59,M,,*7C : BluefinBatt Reply: $c0q0 d- 31.92 1.90 12.89 3.96 4.00 0 15805.42 06:08:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203806.00,3648.88194,N,12153.23267,W,1,06,1.6,-5.41,M,-32.59,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : Isus::select() timeout : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.940000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203807.00,3648.88193,N,12153.23277,W,1,06,1.6,-6.10,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,203808.00,3648.88199,N,12153.23304,W,1,06,1.6,-5.56,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,203809.00,3648.88212,N,12153.23299,W,1,06,1.6,-4.72,M,-32.59,M,,*7C : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203810.00,3648.88220,N,12153.23260,W,1,06,1.6,-4.11,M,-32.59,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 31.75 1.07 12.30 3.97 3.99 0 24618.97 06:08:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203811.00,3648.88213,N,12153.23220,W,1,06,1.6,-4.17,M,-32.59,M,,*75 : 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,203812.00,3648.88193,N,12153.23192,W,1,06,1.6,-4.18,M,-32.59,M,,*78 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203813.00,3648.88192,N,12153.23167,W,1,06,1.6,-4.21,M,-32.59,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $b6q0 d- 31.85 1.48 11.71 3.88 4.00 0 9794.67 06:08:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203814.00,3648.88192,N,12153.23136,W,1,06,1.6,-3.58,M,-32.59,M,,*72 : 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,203815.00,3648.88162,N,12153.23082,W,1,06,1.6,-3.79,M,-32.59,M,,*71 : BluefinBatt Reply: $c0q0 d- 31.88 3.05 12.89 3.96 4.00 0 15805.32 06:08:50 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,203816.00,3648.88159,N,12153.23030,W,1,06,1.6,-4.35,M,-32.59,M,,*7C : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.936667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203817.00,3648.88167,N,12153.23012,W,1,06,1.6,-5.02,M,-32.59,M,,*75 : 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,203818.00,3648.88171,N,12153.23015,W,1,06,1.6,-5.28,M,-32.59,M,,*72 : 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,203819.00,3648.88192,N,12153.23020,W,1,06,1.6,-5.15,M,-32.59,M,,*76 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203820.00,3648.88197,N,12153.23008,W,1,06,1.6,-4.48,M,-32.59,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 31.79 1.00 12.30 3.97 3.99 0 24618.87 06:08:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203821.00,3648.88192,N,12153.22990,W,1,06,1.6,-4.60,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,203822.00,3648.88192,N,12153.22979,W,1,06,1.6,-4.26,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,203823.00,3648.88160,N,12153.22929,W,1,06,1.6,-3.78,M,-32.59,M,,*7E : BluefinBatt Reply: $b6q0 d- 31.85 1.08 11.71 3.88 4.00 0 9794.58 06:08:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203824.00,3648.88161,N,12153.22855,W,1,06,1.6,-3.65,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,203825.00,3648.88135,N,12153.22778,W,1,06,1.6,-4.43,M,-32.59,M,,*7D : BluefinBatt Reply: $c0q0 d- 31.96 1.57 12.89 3.96 4.00 0 15805.18 06:09:00 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,203826.00,3648.88150,N,12153.22779,W,1,06,1.6,-5.42,M,-32.59,M,,*7C : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.936667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203827.00,3648.88130,N,12153.22790,W,1,06,1.6,-4.82,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,203828.00,3648.88148,N,12153.22759,W,1,06,1.6,-4.57,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 : AshtechGps::processRecord() - $GPGGA,203829.00,3648.88164,N,12153.22713,W,1,06,1.6,-4.84,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,203830.00,3648.88141,N,12153.22695,W,1,06,1.6,-5.23,M,-32.59,M,,*7F : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.75 1.26 12.40 3.97 4.00 0 24618.73 06:09:05 m : AshtechGps::processRecord() - $GPGGA,203831.00,3648.88170,N,12153.22697,W,1,06,1.5,-5.05,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,203832.00,3648.88153,N,12153.22668,W,1,06,1.5,-4.60,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,203833.00,3648.88162,N,12153.22638,W,1,06,1.5,-4.16,M,-32.59,M,,*7E : BluefinBatt Reply: $b6q0 d- 31.82 1.23 11.71 3.89 4.01 0 9794.44 06:09:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203834.00,3648.88134,N,12153.22583,W,1,06,1.5,-4.32,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,203835.00,3648.88146,N,12153.22528,W,1,07,1.4,-5.77,M,-32.59,M,,*7A : BluefinBatt Reply: $c0q0 d- 31.96 1.57 12.89 3.96 4.00 0 15805.07 06:09:10 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,203836.00,3648.88142,N,12153.22517,W,1,07,1.4,-6.07,M,-32.59,M,,*75 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.940000 : 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,203837.00,3648.88143,N,12153.22502,W,1,07,1.4,-6.05,M,-32.59,M,,*73 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203838.00,3648.88152,N,12153.22495,W,1,07,1.4,-6.18,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,203839.00,3648.88160,N,12153.22498,W,1,07,1.4,-6.00,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,203840.00,3648.88174,N,12153.22469,W,1,07,1.4,-5.47,M,-32.59,M,,*7E : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.79 1.29 12.30 3.97 4.00 0 24618.64 06:09:15 m : AshtechGps::processRecord() - $GPGGA,203841.00,3648.88183,N,12153.22424,W,1,07,1.4,-5.28,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,203842.00,3648.88181,N,12153.22369,W,1,07,1.4,-4.97,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,203843.00,3648.88170,N,12153.22306,W,1,07,1.4,-5.32,M,-32.59,M,,*75 : BluefinBatt Reply: $b6q0 d- 31.85 1.88 11.71 3.89 4.01 0 9794.35 06:09:18 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,203844.00,3648.88170,N,12153.22285,W,1,07,1.4,-5.92,M,-32.59,M,,*72 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203845.00,3648.88164,N,12153.22296,W,1,07,1.4,-6.32,M,-32.59,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 31.96 1.54 12.89 3.96 4.00 0 15804.91 06:09:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203846.00,3648.88165,N,12153.22296,W,1,07,1.4,-5.64,M,-32.59,M,,*7F : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.940000 : 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,203847.00,3648.88118,N,12153.22181,W,1,07,1.4,-3.88,M,-32.59,M,,*75 : LayeredControl::execute() -- (t = 4884.195410) Behavior setpoint:1016834 has changed to state Finished : LayeredControl - sending BehaviorFinished:1016834 msg to VcsServer : *** Stack empty after processing. Waiting on VCS... : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203848.00,3648.88148,N,12153.22146,W,1,07,1.4,-6.00,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,203849.00,3648.88143,N,12153.22170,W,1,07,1.4,-5.95,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 : AshtechGps::processRecord() - $GPGGA,203850.00,3648.88192,N,12153.22208,W,1,07,1.4,-5.67,M,-32.59,M,,*74 : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 31.79 0.92 12.30 3.97 4.00 0 24618.50 06:09:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203851.00,3648.88180,N,12153.22153,W,1,07,1.4,-5.27,M,-32.59,M,,*7F : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion setpoint after pos 2 : DynoLayeredControl::insert - stack now contains 19 behaviors : LayeredControl::execute() -- (t = 4887.735167) Behavior setpoint:1021628 has changed to state Active : LayeredControl - setpoint BehaviorStarted:1021628 msg to VcsServer : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203852.00,3648.88219,N,12153.22059,W,1,06,1.6,-6.17,M,-32.59,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203853.00,3648.88137,N,12153.22007,W,1,07,1.4,-6.00,M,-32.59,M,,*77 : BluefinBatt Reply: $b6q0 d- 31.85 0.97 11.71 3.89 4.01 0 9794.24 06:09:28 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203854.00,3648.88153,N,12153.21938,W,1,07,1.4,-6.04,M,-32.59,M,,*70 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203855.00,3648.88167,N,12153.21948,W,1,07,1.4,-5.89,M,-32.59,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 31.92 2.01 12.89 3.96 4.00 0 15804.80 06:09:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203856.00,3648.88195,N,12153.21919,W,1,07,1.4,-6.72,M,-32.59,M,,*7A : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.940000 : LayeredControl::execute() -- (t = 4892.794821) Behavior setpoint:1021628 has changed to state Finished : LayeredControl - sending BehaviorFinished:1021628 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,203857.00,3648.88228,N,12153.21933,W,1,07,1.4,-7.14,M,-32.59,M,,*77 : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion descend after pos 2 : DynoLayeredControl::insert - stack now contains 20 behaviors : LayeredControl::execute() -- (t = 4893.934742) Behavior descend:1021587 has changed to state Active : LayeredControl - descend BehaviorStarted:1021587 msg to VcsServer : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203858.00,3648.88194,N,12153.21888,W,1,07,1.4,-6.86,M,-32.59,M,,*77 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203859.00,3648.88219,N,12153.21842,W,1,07,1.4,-5.46,M,-32.59,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203900.00,3648.88232,N,12153.21765,W,1,07,1.4,-6.19,M,-32.59,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.71 3.75 12.30 3.97 4.00 0 24618.35 06:09:35 m : AshtechGps::processRecord() - $GPGGA,203901.00,3648.88261,N,12153.21752,W,1,07,1.4,-6.52,M,-32.59,M,,*72 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203902.00,3648.88231,N,12153.21719,W,1,07,1.4,-6.45,M,-32.59,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203903.00,3648.88240,N,12153.21644,W,1,07,1.4,-5.78,M,-32.59,M,,*7E : BluefinBatt Reply: $b6q0 d- 31.74 2.50 11.71 3.89 4.01 0 9794.03 06:09:38 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203904.00,3648.88286,N,12153.21604,W,1,07,1.4,-6.64,M,-32.59,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203905.00,3648.88328,N,12153.21555,W,1,07,1.4,-6.84,M,-32.59,M,,*74 : BluefinBatt Reply: $c0q0 d- 31.88 3.26 12.89 3.95 3.98 0 15804.43 06:09:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203906.00,3648.88401,N,12153.21518,W,1,07,1.4,-6.04,M,-32.59,M,,*7A : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.936667 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203907.00,3648.88443,N,12153.21491,W,1,07,1.4,-6.18,M,-32.59,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203908.00,3648.88488,N,12153.21456,W,1,07,1.4,-6.15,M,-32.59,M,,*7E : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203909.00,3648.88533,N,12153.21465,W,1,07,1.4,-6.25,M,-32.59,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203910.00,3648.88573,N,12153.21431,W,1,07,1.4,-4.80,M,-32.59,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.67 2.74 12.30 3.96 3.98 0 24618.04 06:09:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203911.00,3648.88634,N,12153.21412,W,1,07,1.4,-5.13,M,-32.59,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203912.00,3648.88704,N,12153.21413,W,1,07,1.4,-5.51,M,-32.59,M,,*70 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203913.00,3648.88756,N,12153.21385,W,1,07,1.4,-5.72,M,-32.59,M,,*7F : BluefinBatt Reply: $b6q0 d- 31.74 2.53 11.81 3.87 4.00 0 9793.79 06:09:48 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203914.00,3648.88802,N,12153.21382,W,1,07,1.4,-5.51,M,-32.59,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203915.00,3648.88783,N,12153.21350,W,1,08,1.1,-6.22,M,-32.59,M,,*75 : BluefinBatt Reply: $c0q0 d- 31.88 3.26 12.98 3.95 3.98 0 15804.17 06:09:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203916.00,3648.88819,N,12153.21362,W,1,08,1.1,-5.71,M,-32.59,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.926666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203917.00,3648.88836,N,12153.21359,W,1,08,1.1,-6.92,M,-32.59,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203918.00,3648.88885,N,12153.21382,W,1,08,1.1,-6.77,M,-32.59,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203919.00,3648.88860,N,12153.21408,W,1,08,1.1,-7.62,M,-32.59,M,,*74 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203920.00,3648.89097,N,12153.21406,W,1,07,1.4,-4.93,M,-32.59,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.71 3.11 12.40 3.96 3.98 0 24617.77 06:09:55 m : AshtechGps::processRecord() - $GPGGA,203921.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203922.00,,,,,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,203923.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 31.70 2.71 11.81 3.87 4.00 0 9793.62 06:09:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203924.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203925.00,,,,,0,03,5.0,,M,,M,,*6F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 5.24 12.89 3.95 3.98 0 15803.79 06:10:00 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203926.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.926666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203927.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203928.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203929.00,,,,,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,203930.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.64 3.78 12.30 3.95 3.97 0 24617.38 06:10:05 m : AshtechGps::processRecord() - $GPGGA,203931.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on depth 2.135284 > 2.000000 at time 4927.592437 : LayeredControl::execute() -- (t = 4927.592437) Behavior descend:1021587 has changed to state Finished : LayeredControl - sending BehaviorFinished:1021587 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,203932.00,,,,,0,00,,,M,,M,,*41 : 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,203933.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.55 4.23 11.81 3.87 3.99 0 9793.30 06:10:08 m : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion waypoint_yoyo after pos 2 : DynoLayeredControl::insert - stack now contains 21 behaviors : Waypoint Initialization: Begin waypoint control at t= 4929.74 (wplog) The current location (N,E) = 4074914.2 , 599273.7 (wplog) The next waypoint = 4074887.2 , 597658.7 (wplog) The bearing to the next w.p. is 269.0 Degrees. : LayeredControl::execute() -- (t = 4929.742290) Behavior waypoint_yoyo:1023490 has changed to state Active : LayeredControl - waypoint_yoyo BehaviorStarted:1023490 msg to VcsServer : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203934.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203935.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.81 3.62 12.89 3.95 3.98 0 15803.53 06:10:10 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203936.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.923333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203937.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203938.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203939.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203940.00,,,,,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: $aaq0 d- 31.64 3.89 12.40 3.95 3.97 0 24617.12 06:10:15 m : AshtechGps::processRecord() - $GPGGA,203941.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203942.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203943.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.70 3.04 11.81 3.87 3.99 0 9793.10 06:10:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203944.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203945.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.84 3.98 12.98 3.94 3.98 0 15803.12 06:10:20 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203946.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.920000 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203947.00,,,,,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,203948.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203949.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203950.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.64 3.22 12.30 3.96 3.98 0 24616.75 06:10:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203951.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203952.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203953.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.66 2.75 11.81 3.87 3.99 0 9792.82 06:10:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203954.00,,,,,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,203955.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.81 3.70 13.08 3.94 3.98 0 15802.89 06:10:30 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203956.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.923333 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203957.00,,,,,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,203958.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,203959.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204000.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.60 3.48 12.40 3.96 3.98 0 24616.52 06:10:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204001.00,,,,,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,204002.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204003.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.70 2.82 11.81 3.87 3.99 0 9792.62 06:10:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204004.00,,,,,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,204005.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 31.81 3.55 12.98 3.95 3.98 0 15802.51 06:10:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204006.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.926666 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204007.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204008.00,,,,,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,204009.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204010.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.64 3.44 12.30 3.96 3.98 0 24616.15 06:10:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204011.00,,,,,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,204012.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204013.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.70 2.67 11.81 3.87 3.99 0 9792.34 06:10:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204014.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204015.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.84 3.52 13.08 3.95 3.98 0 15802.26 06:10:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204016.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.926666 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204017.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204018.00,,,,,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,204019.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204020.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.64 3.26 12.40 3.96 3.98 0 24615.91 06:10:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204021.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204022.00,,,,,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,204023.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.70 2.96 11.81 3.87 3.99 0 9792.16 06:10:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204024.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204025.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.81 3.80 13.08 3.94 3.98 0 15801.89 06:11:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204026.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.923333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204027.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204028.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204029.00,,,,,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,204030.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.60 3.37 12.50 3.95 3.98 0 24615.56 06:11:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204031.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204032.00,,,,,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,204033.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 31.66 2.89 11.81 3.87 3.99 0 9791.88 06:11:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204034.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204035.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.81 3.77 13.08 3.94 3.98 0 15801.66 06:11:10 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204036.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.920000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204037.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204038.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204039.00,,,,,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,204040.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.67 3.33 12.50 3.95 3.98 0 24615.27 06:11:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204041.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204042.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204043.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.66 2.78 11.81 3.87 3.99 0 9791.69 06:11:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204044.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204045.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.81 3.62 13.08 3.94 3.98 0 15801.29 06:11:20 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204046.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.920000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204047.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204048.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204049.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204050.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.60 3.44 12.59 3.95 3.98 0 24614.89 06:11:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204051.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204052.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204053.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.70 2.75 11.81 3.87 3.99 0 9791.41 06:11:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204054.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204055.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.77 4.02 13.08 3.94 3.98 0 15801.04 06:11:30 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204056.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.920000 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204057.00,,,,,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,204058.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204059.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204100.00,,,,,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: $aaq0 d- 31.60 3.30 12.50 3.95 3.98 0 24614.66 06:11:35 m : AshtechGps::processRecord() - $GPGGA,204101.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204102.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204103.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.70 2.89 11.81 3.87 3.99 0 9791.22 06:11:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204104.00,,,,,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,204105.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 31.81 3.98 13.08 3.94 3.98 0 15800.68 06:11:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204106.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.920000 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204107.00,,,,,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,204108.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204109.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204110.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.60 3.19 12.50 3.96 3.98 0 24614.29 06:11:45 m : AshtechGps::processRecord() - $GPGGA,204111.00,,,,,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,204112.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204113.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.70 3.00 11.91 3.87 3.99 0 9790.91 06:11:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204114.00,,,,,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,204115.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 31.81 3.55 13.08 3.94 3.98 0 15800.44 06:11:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204116.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.923333 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204117.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204118.00,,,,,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,204119.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204120.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.64 3.56 12.50 3.96 3.98 0 24614.02 06:11:55 m : AshtechGps::processRecord() - $GPGGA,204121.00,,,,,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,204122.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204123.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.66 2.86 11.81 3.87 3.99 0 9790.72 06:11:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204124.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204125.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.77 4.24 13.08 3.94 3.98 0 15800.04 06:12:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204126.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.923333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204127.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204128.00,,,,,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,204129.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204130.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.64 3.30 12.50 3.95 3.98 0 24613.65 06:12:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204131.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204132.00,,,,,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,204133.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.66 2.78 11.91 3.87 3.99 0 9790.44 06:12:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204134.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204135.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.81 4.02 13.08 3.94 3.98 0 15799.80 06:12:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204136.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.920000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204137.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204138.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204139.00,,,,,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,204140.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.60 3.22 12.59 3.95 3.98 0 24613.41 06:12:15 m : AshtechGps::processRecord() - $GPGGA,204141.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204142.00,,,,,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,204143.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 31.66 2.82 11.91 3.87 3.99 0 9790.25 06:12:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204144.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204145.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.81 3.37 13.08 3.94 3.98 0 15799.44 06:12:20 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204146.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.920000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204147.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204148.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204149.00,,,,,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,204150.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.60 3.33 12.59 3.96 3.98 0 24613.07 06:12:25 m : AshtechGps::processRecord() - $GPGGA,204151.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204152.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204153.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.70 2.89 11.91 3.87 3.99 0 9789.96 06:12:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204154.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204155.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.81 3.62 13.18 3.94 3.98 0 15799.20 06:12:30 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204156.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.814708 under allowable altitude 10.000000. Stopping! : resetting depth trajectory : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.923333 : DepthEnvelope -- Measured altitude 9.814708 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.814708 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.814708 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204157.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.814708 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.814708 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.814708 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.814708 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.386294 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204158.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.386294 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.386294 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.386294 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.386294 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.386294 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204159.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.386294 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.073593 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.073593 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.073593 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.073593 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204200.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.073593 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.073593 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.073593 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.073593 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.399692 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.75 1.07 12.50 3.96 3.98 0 24612.83 06:12:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204201.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.399692 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.399692 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.399692 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.399692 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.399692 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204202.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.399692 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.517920 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.517920 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.517920 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.517920 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204203.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.78 1.15 11.91 3.87 3.99 0 9789.82 06:12:38 m : DepthEnvelope -- Measured altitude 7.517920 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.517920 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.517920 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.773854 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.773854 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204204.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.773854 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.773854 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.773854 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.773854 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.773854 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204205.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.773854 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.92 1.18 13.18 3.96 3.99 0 15798.96 06:12:40 m : DepthEnvelope -- Measured altitude 6.120800 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.120800 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.120800 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.120800 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204206.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.120800 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.930000 : DepthEnvelope -- Measured altitude 6.120800 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.120800 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.891945 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.891945 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204207.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.891945 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.891945 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.891945 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.891945 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.891945 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204208.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.889244 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.889244 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.889244 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.889244 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.889244 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204209.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.889244 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.889244 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.889244 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.950765 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.950765 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204210.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.950765 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.950765 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.950765 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.950765 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.950765 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.75 1.37 12.59 3.97 3.99 0 24612.71 06:12:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204211.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.304594 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.304594 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.304594 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.304594 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.304594 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204212.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.304594 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.304594 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.505800 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.505800 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.505800 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204213.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.82 1.05 11.91 3.88 4.00 0 9789.70 06:12:48 m : DepthEnvelope -- Measured altitude 6.505800 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.505800 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.505800 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.505800 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.505800 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204214.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.702693 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.702693 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.702693 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.702693 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.702693 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204215.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.702693 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.88 1.43 13.18 3.96 3.99 0 15798.84 06:12:50 m : DepthEnvelope -- Measured altitude 6.702693 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.954607 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.954607 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.954607 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204216.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.954607 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.936667 : DepthEnvelope -- Measured altitude 6.954607 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.954607 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.954607 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.274816 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204217.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.274816 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.274816 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.274816 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.274816 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.274816 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204218.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.274816 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.274816 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.351429 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.351429 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.351429 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204219.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.351429 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.351429 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.351429 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.351429 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.431152 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204220.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.431152 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.431152 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.431152 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.431152 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.431152 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.79 1.00 12.59 3.97 3.99 0 24612.64 06:12:55 m : AshtechGps::processRecord() - $GPGGA,204221.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.431152 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.431152 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.730191 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.730191 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.730191 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204222.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.730191 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.730191 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.730191 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.730191 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.855986 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204223.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.855986 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.82 1.33 11.91 3.88 4.00 0 9789.62 06:12:58 m : DepthEnvelope -- Measured altitude 7.855986 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.855986 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.855986 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.855986 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204224.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.855986 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.080149 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.080149 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.080149 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.080149 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204225.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.080149 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.080149 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.92 1.39 13.18 3.96 4.00 0 15798.68 06:13:00 m : DepthEnvelope -- Measured altitude 8.080149 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.080149 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.188370 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204226.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.188370 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.188370 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.936667 : DepthEnvelope -- Measured altitude 8.188370 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.188370 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.188370 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204227.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.188370 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.190334 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.190334 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.190334 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.190334 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204228.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.190334 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.190334 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.190334 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.232744 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.232744 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204229.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.232744 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.232744 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.232744 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.232744 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.232744 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204230.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.232744 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.219365 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.219365 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.219365 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.219365 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.75 1.00 12.50 3.97 3.99 0 24612.53 06:13:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204231.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.219365 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.219365 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.219365 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.270296 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.270296 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204232.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.270296 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.270296 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.270296 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.270296 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.270296 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204233.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.295532 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.82 1.08 11.91 3.89 4.00 0 9789.51 06:13:08 m : DepthEnvelope -- Measured altitude 8.295532 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.295532 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.295532 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.295532 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204234.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.295532 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.295532 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.295532 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.287210 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.287210 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204235.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.287210 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.92 1.32 13.08 3.96 4.00 0 15798.57 06:13:10 m : DepthEnvelope -- Measured altitude 8.287210 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.287210 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.287210 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.287210 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204236.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.419023 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.940000 : DepthEnvelope -- Measured altitude 8.419023 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.419023 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.419023 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.419023 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204237.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.419023 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.419023 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.419023 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.453447 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.453447 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204238.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.453447 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.453447 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.453447 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.453447 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.453447 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204239.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.700328 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.700328 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.700328 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.700328 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.700328 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204240.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.700328 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.700328 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.754153 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.754153 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.754153 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.75 1.00 12.50 3.97 3.99 0 24612.46 06:13:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204241.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.754153 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.754153 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.754153 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.754153 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.754153 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204242.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.189489 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.189489 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.189489 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.189489 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.189489 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204243.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.189489 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.82 1.08 11.91 3.89 4.00 0 9789.44 06:13:18 m : DepthEnvelope -- Measured altitude 9.189489 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.455431 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.455431 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.455431 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204244.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.455431 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.455431 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.455431 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.455431 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.651180 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204245.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.651180 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.651180 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.92 1.25 13.08 3.96 4.00 0 15798.44 06:13:20 m : DepthEnvelope -- Measured altitude 9.651180 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.651180 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.651180 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204246.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.651180 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.651180 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.940000 : DepthEnvelope -- Measured altitude 9.825531 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.825531 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.825531 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204247.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.825531 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.825531 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.825531 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.825531 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- altitude 10.066571 over abort altitude 10.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204248.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204249.00,,,,,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,204250.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.75 1.33 12.50 3.97 3.99 0 24612.36 06:13:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204251.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204252.00,,,,,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,204253.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 31.74 2.35 11.81 3.89 4.01 0 9789.29 06:13:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204254.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204255.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.84 3.62 13.08 3.96 4.00 0 15798.29 06:13:30 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204256.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.940000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204257.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204258.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204259.00,,,,,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,204300.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.60 3.82 12.59 3.97 3.99 0 24612.14 06:13:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204301.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204302.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204303.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.66 3.07 11.91 3.89 4.01 0 9789.08 06:13:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204304.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204305.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.81 3.70 13.08 3.94 3.98 0 15797.86 06:13:40 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204306.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.933333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204307.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204308.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204309.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204310.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.64 3.33 12.50 3.95 3.98 0 24611.75 06:13:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204311.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204312.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204313.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.66 2.96 11.91 3.87 3.99 0 9788.78 06:13:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204314.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204315.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.84 3.37 13.08 3.94 3.98 0 15797.58 06:13:50 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204316.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.920000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204317.00,,,,,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,204318.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204319.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204320.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.64 3.19 12.50 3.95 3.98 0 24611.51 06:13:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204321.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204322.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204323.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.70 2.75 11.91 3.87 3.99 0 9788.60 06:13:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204324.00,,,,,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,204325.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.77 3.73 13.08 3.95 3.98 0 15797.20 06:14:00 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204326.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.923333 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204327.00,,,,,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,204328.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204329.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204330.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.64 3.11 12.50 3.96 3.98 0 24611.13 06:14:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204331.00,,,,,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,204332.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204333.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.66 2.93 11.91 3.87 3.99 0 9788.32 06:14:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204334.00,,,,,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,204335.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 31.81 3.23 13.08 3.95 3.98 0 15796.95 06:14:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204336.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.926666 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204337.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204338.00,,,,,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,204339.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204340.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.60 3.22 12.59 3.96 3.98 0 24610.89 06:14:15 m : AshtechGps::processRecord() - $GPGGA,204341.00,,,,,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,204342.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204343.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.70 2.53 12.01 3.87 3.99 0 9788.15 06:14:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204344.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204345.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.84 3.16 13.08 3.95 3.98 0 15796.55 06:14:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204346.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.926666 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204347.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204348.00,,,,,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,204349.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204350.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.64 3.04 12.59 3.96 3.98 0 24610.56 06:14:25 m : AshtechGps::processRecord() - $GPGGA,204351.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204352.00,,,,,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,204353.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.66 3.69 12.01 3.87 3.99 0 9787.89 06:14:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204354.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204355.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.81 3.55 13.08 3.95 3.98 0 15796.30 06:14:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204356.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.926666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204357.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204358.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204359.00,,,,,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,204400.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.67 3.04 12.50 3.96 3.98 0 24610.35 06:14:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204401.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204402.00,,,,,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,204403.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.66 2.71 12.01 3.87 3.99 0 9787.69 06:14:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204404.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204405.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.81 3.23 13.08 3.94 3.98 0 15795.92 06:14:40 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204406.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.923333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204407.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204408.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204409.00,,,,,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,204410.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.64 3.33 12.50 3.96 3.98 0 24610.04 06:14:45 m : AshtechGps::processRecord() - $GPGGA,204411.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204412.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204413.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.70 2.42 12.01 3.87 3.99 0 9787.43 06:14:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204414.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204415.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.81 3.26 13.08 3.94 3.98 0 15795.68 06:14:50 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204416.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.923333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204417.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204418.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204419.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204420.00,,,,,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: $aaq0 d- 31.64 3.22 12.50 3.96 3.98 0 24609.83 06:14:55 m : AshtechGps::processRecord() - $GPGGA,204421.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204422.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204423.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.70 2.57 12.01 3.87 3.99 0 9787.26 06:14:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204424.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204425.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.81 3.19 13.08 3.94 3.98 0 15795.27 06:15:00 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204426.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.923333 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204427.00,,,,,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,204428.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204429.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204430.00,,,,,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: $aaq0 d- 31.60 3.22 12.50 3.96 3.98 0 24609.51 06:15:05 m : AshtechGps::processRecord() - $GPGGA,204431.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204432.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204433.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.70 2.50 12.01 3.87 3.99 0 9786.99 06:15:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204434.00,,,,,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,204435.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 31.81 3.23 13.08 3.94 3.98 0 15795.03 06:15:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204436.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.923333 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204437.00,,,,,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,204438.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204439.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204440.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.60 3.37 12.50 3.96 3.98 0 24609.31 06:15:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204441.00,,,,,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,204442.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204443.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.66 2.78 12.01 3.87 3.99 0 9786.81 06:15:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204444.00,,,,,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,204445.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 31.77 3.66 13.08 3.94 3.98 0 15794.64 06:15:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204446.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.923333 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204447.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204448.00,,,,,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,204449.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204450.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : resetting depth trajectory : BluefinBatt Reply: $aaq0 d- 31.60 3.11 12.50 3.95 3.98 0 24608.95 06:15:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204451.00,,,,,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,204452.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204453.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.66 2.42 12.01 3.87 3.99 0 9786.55 06:15:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204454.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204455.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.77 3.70 13.08 3.94 3.98 0 15794.33 06:15:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204456.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.920000 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204457.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204458.00,,,,,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,204459.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204500.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.56 3.63 12.50 3.95 3.98 0 24608.65 06:15:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204501.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204502.00,,,,,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,204503.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.66 2.93 11.91 3.87 3.99 0 9786.36 06:15:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204504.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204505.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.77 3.84 13.08 3.94 3.98 0 15793.91 06:15:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204506.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.920000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204507.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204508.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204509.00,,,,,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,204510.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.60 3.48 12.40 3.95 3.98 0 24608.28 06:15:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204511.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204512.00,,,,,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,204513.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 31.62 2.96 12.01 3.86 3.99 0 9786.09 06:15:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204514.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204515.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.77 3.77 13.08 3.94 3.98 0 15793.59 06:15:50 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204516.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.916667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204517.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204518.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204519.00,,,,,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,204520.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.60 3.75 12.50 3.95 3.98 0 24607.97 06:15:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204521.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204522.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204523.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.62 3.07 11.91 3.86 3.99 0 9785.90 06:15:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204524.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204525.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.77 3.44 13.08 3.94 3.98 0 15793.17 06:16:00 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204526.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.916667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204527.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204528.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204529.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204530.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.56 4.15 12.50 3.95 3.98 0 24607.59 06:16:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204531.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204532.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204533.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.62 3.07 11.91 3.86 3.99 0 9785.61 06:16:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204534.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204535.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.77 3.52 13.08 3.94 3.98 0 15792.90 06:16:10 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204536.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.916667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204537.00,,,,,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,204538.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204539.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204540.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.60 3.85 12.50 3.95 3.98 0 24607.34 06:16:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204541.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204542.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204543.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.66 2.78 11.91 3.86 3.99 0 9785.43 06:16:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204544.00,,,,,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,204545.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 31.77 3.37 13.08 3.94 3.98 0 15792.50 06:16:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204546.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.916667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204547.00,,,,,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,204548.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204549.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204550.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.60 3.30 12.50 3.95 3.98 0 24606.98 06:16:25 m : AshtechGps::processRecord() - $GPGGA,204551.00,,,,,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,204552.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204553.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.62 2.96 11.91 3.86 3.98 0 9785.14 06:16:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204554.00,,,,,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,204555.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 31.77 3.70 13.18 3.94 3.98 0 15792.23 06:16:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204556.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.916667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204557.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204558.00,,,,,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,204559.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204600.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.60 3.41 12.50 3.95 3.98 0 24606.68 06:16:35 m : AshtechGps::processRecord() - $GPGGA,204601.00,,,,,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,204602.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204603.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.62 2.86 11.91 3.86 3.98 0 9784.95 06:16:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204604.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204605.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.77 3.55 13.18 3.94 3.98 0 15791.83 06:16:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204606.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.916667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204607.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204608.00,,,,,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,204609.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204610.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.60 3.30 12.50 3.95 3.98 0 24606.33 06:16:45 m : AshtechGps::processRecord() - $GPGGA,204611.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204612.00,,,,,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,204613.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.66 2.67 11.91 3.86 3.99 0 9784.68 06:16:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204614.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204615.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.77 3.55 13.18 3.94 3.98 0 15791.56 06:16:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204616.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.916667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204617.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204618.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204619.00,,,,,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,204620.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.60 3.30 12.50 3.95 3.98 0 24606.11 06:16:55 m : AshtechGps::processRecord() - $GPGGA,204621.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204622.00,,,,,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,204623.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 31.62 3.04 12.01 3.86 3.99 0 9784.49 06:16:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204624.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204625.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.77 3.30 13.18 3.94 3.98 0 15791.17 06:17:00 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204626.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.916667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204627.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204628.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204629.00,,,,,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,204630.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.60 3.41 12.50 3.95 3.98 0 24605.76 06:17:05 m : AshtechGps::processRecord() - $GPGGA,204631.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204632.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204633.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.62 3.07 12.01 3.86 3.99 0 9784.20 06:17:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204634.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204635.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.77 3.44 13.18 3.94 3.98 0 15790.90 06:17:10 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204636.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.916667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204637.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204638.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204639.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204640.00,,,,,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: $aaq0 d- 31.60 3.41 12.50 3.95 3.98 0 24605.51 06:17:15 m : AshtechGps::processRecord() - $GPGGA,204641.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204642.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204643.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.66 3.58 12.01 3.86 3.99 0 9784.01 06:17:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204644.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204645.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.77 3.62 13.18 3.94 3.98 0 15790.47 06:17:20 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204646.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.916667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204647.00,,,,,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,204648.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204649.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204650.00,,,,,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: $aaq0 d- 31.60 3.41 12.59 3.95 3.98 0 24605.16 06:17:25 m : AshtechGps::processRecord() - $GPGGA,204651.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204652.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204653.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.62 2.86 12.01 3.86 3.98 0 9783.73 06:17:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204654.00,,,,,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,204655.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 31.77 3.44 13.18 3.94 3.98 0 15790.20 06:17:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204656.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.916667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204657.00,,,,,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,204658.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204659.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204700.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.60 3.41 12.59 3.95 3.98 0 24604.93 06:17:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204701.00,,,,,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,204702.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204703.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.62 2.86 12.01 3.86 3.98 0 9783.54 06:17:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204704.00,,,,,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,204705.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 31.77 3.77 13.18 3.94 3.98 0 15789.82 06:17:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204706.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.916667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204707.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204708.00,,,,,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,204709.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204710.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.60 3.41 12.50 3.95 3.98 0 24604.55 06:17:45 m : AshtechGps::processRecord() - $GPGGA,204711.00,,,,,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,204712.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204713.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.66 2.93 12.01 3.86 3.99 0 9783.26 06:17:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204714.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204715.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.77 3.37 13.18 3.94 3.98 0 15789.56 06:17:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204716.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.916667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204717.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204718.00,,,,,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,204719.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204720.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.56 3.52 12.59 3.95 3.98 0 24604.29 06:17:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204721.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204722.00,,,,,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,204723.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.66 3.69 12.01 3.86 3.99 0 9783.08 06:17:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204724.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204725.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.77 3.34 13.18 3.94 3.98 0 15789.14 06:18:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204726.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.916667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204727.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204728.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204729.00,,,,,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,204730.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.60 3.33 12.50 3.95 3.98 0 24603.92 06:18:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204731.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204732.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.803102 under allowable altitude 10.000000. Stopping! : resetting depth trajectory : DepthEnvelope -- Measured altitude 9.803102 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.803102 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204733.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.803102 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=0.00 : BluefinBatt Reply: $b6q0 d- 31.62 2.96 12.01 3.86 3.98 0 9782.81 06:18:08 m : DepthEnvelope -- Measured altitude 9.803102 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.803102 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.803102 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.604601 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204734.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.604601 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.604601 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.604601 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.604601 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.604601 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204735.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.604601 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.604601 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.77 3.59 13.18 3.94 3.98 0 15788.89 06:18:10 m : DepthEnvelope -- Measured altitude 9.457538 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.457538 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.457538 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204736.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.457538 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.457538 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.916667 : DepthEnvelope -- Measured altitude 9.457538 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.457538 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.222698 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204737.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.222698 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.222698 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.222698 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.222698 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.222698 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204738.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.222698 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.222698 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.072071 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.072071 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.072071 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204739.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.072071 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.072071 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.072071 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.072071 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.731612 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204740.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.731612 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.731612 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.731612 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.731612 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.731612 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.71 1.14 12.50 3.95 3.98 0 24603.76 06:18:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204741.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.731612 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.896345 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.896345 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.896345 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.896345 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204742.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.896345 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.896345 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.896345 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.896345 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.194892 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204743.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.194892 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.74 1.15 12.01 3.86 3.98 0 9782.71 06:18:18 m : DepthEnvelope -- Measured altitude 9.194892 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.194892 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.194892 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.194892 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204744.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.194892 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.664196 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.664196 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.664196 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.664196 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204745.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.664196 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.88 1.39 13.18 3.95 3.99 0 15788.71 06:18:20 m : DepthEnvelope -- Measured altitude 9.664196 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.664196 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- altitude 10.155643 over abort altitude 10.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204746.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.920000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204747.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204748.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204749.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204750.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.64 2.59 12.59 3.96 3.99 0 24603.63 06:18:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204751.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204752.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204753.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.66 2.93 12.01 3.88 4.00 0 9782.54 06:18:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204754.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204755.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.77 3.62 13.18 3.95 3.99 0 15788.56 06:18:30 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204756.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.930000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204757.00,,,,,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,204758.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204759.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204800.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.60 3.48 12.59 3.96 3.99 0 24603.38 06:18:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204801.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204802.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204803.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.62 2.93 12.01 3.88 4.00 0 9782.33 06:18:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204804.00,,,,,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,204805.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 31.77 3.77 13.18 3.94 3.98 0 15788.16 06:18:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204806.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.926667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204807.00,,,,,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,204808.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204809.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204810.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.60 3.33 12.50 3.95 3.97 0 24603.03 06:18:45 m : AshtechGps::processRecord() - $GPGGA,204811.00,,,,,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,204812.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204813.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.66 2.89 12.01 3.86 3.99 0 9782.03 06:18:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204814.00,,,,,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,204815.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 31.77 3.62 13.18 3.94 3.98 0 15787.91 06:18:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204816.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.916667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204817.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204818.00,,,,,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,204819.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204820.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.60 3.07 12.59 3.95 3.97 0 24602.79 06:18:55 m : AshtechGps::processRecord() - $GPGGA,204821.00,,,,,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,204822.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204823.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.62 2.75 12.01 3.86 3.99 0 9781.84 06:18:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204824.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204825.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.77 3.66 13.18 3.94 3.98 0 15787.55 06:19:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204826.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.916667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204827.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204828.00,,,,,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,204829.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204830.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.60 3.22 12.50 3.95 3.97 0 24602.46 06:19:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204831.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204832.00,,,,,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,204833.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.62 2.67 12.01 3.87 3.99 0 9781.55 06:19:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204834.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204835.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 3.91 13.18 3.94 3.98 0 15787.31 06:19:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204836.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.920000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204837.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204838.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204839.00,,,,,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,204840.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.60 3.26 12.50 3.95 3.97 0 24602.25 06:19:15 m : AshtechGps::processRecord() - $GPGGA,204841.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204842.00,,,,,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,204843.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 31.66 2.60 12.01 3.87 3.99 0 9781.36 06:19:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204844.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204845.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.77 3.59 13.08 3.94 3.98 0 15786.97 06:19:20 m : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204846.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.920000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204847.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204848.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204849.00,,,,,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,204850.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.56 3.15 12.59 3.95 3.97 0 24601.92 06:19:25 m : AshtechGps::processRecord() - $GPGGA,204851.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204852.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204853.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.62 2.82 12.01 3.87 3.99 0 9781.06 06:19:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204854.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204855.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 3.80 13.08 3.94 3.98 0 15786.73 06:19:30 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204856.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.920000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204857.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204858.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204859.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204900.00,,,,,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: $aaq0 d- 31.60 3.15 12.59 3.95 3.97 0 24601.69 06:19:35 m : AshtechGps::processRecord() - $GPGGA,204901.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204902.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204903.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.62 2.60 12.01 3.87 3.99 0 9780.88 06:19:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204904.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204905.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 3.37 13.08 3.94 3.98 0 15786.40 06:19:40 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204906.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.920000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204907.00,,,,,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,204908.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204909.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204910.00,,,,,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: $aaq0 d- 31.60 3.04 12.50 3.95 3.97 0 24601.36 06:19:45 m : AshtechGps::processRecord() - $GPGGA,204911.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204912.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204913.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.62 2.78 12.01 3.87 3.99 0 9780.58 06:19:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204914.00,,,,,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,204915.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 3.55 13.08 3.94 3.98 0 15786.17 06:19:50 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204916.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.920000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204917.00,,,,,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,204918.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204919.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204920.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.52 4.60 12.59 3.95 3.97 0 24601.15 06:19:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204921.00,,,,,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,204922.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204923.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.62 2.67 12.01 3.87 3.99 0 9780.39 06:19:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204924.00,,,,,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,204925.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 31.77 3.55 13.08 3.94 3.98 0 15785.81 06:20:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204926.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.920000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204927.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204928.00,,,,,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,204929.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204930.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.56 3.04 12.40 3.95 3.97 0 24600.81 06:20:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204931.00,,,,,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,204932.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204933.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.62 2.78 12.01 3.86 3.98 0 9780.09 06:20:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204934.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204935.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.77 3.44 13.08 3.94 3.98 0 15785.54 06:20:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204936.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.916667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204937.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204938.00,,,,,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,204939.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204940.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.60 3.30 12.40 3.95 3.97 0 24600.54 06:20:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204941.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204942.00,,,,,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,204943.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.62 2.64 12.01 3.86 3.98 0 9779.91 06:20:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204944.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204945.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 3.77 13.08 3.94 3.98 0 15785.20 06:20:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204946.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.916667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204947.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204948.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204949.00,,,,,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,204950.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.56 3.44 12.30 3.95 3.97 0 24600.19 06:20:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204951.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204952.00,,,,,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,204953.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 31.66 2.60 12.01 3.86 3.98 0 9779.63 06:20:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204954.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204955.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 3.73 13.08 3.94 3.98 0 15784.96 06:20:30 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204956.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.916667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204957.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204958.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,204959.00,,,,,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,205000.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.60 3.30 12.50 3.95 3.97 0 24599.98 06:20:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205001.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205002.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205003.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.62 2.75 12.01 3.86 3.98 0 9779.43 06:20:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205004.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205005.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 3.62 13.08 3.94 3.98 0 15784.58 06:20:40 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205006.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.916667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205007.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205008.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205009.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205010.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.52 3.19 12.40 3.95 3.97 0 24599.62 06:20:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205011.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205012.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205013.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.66 2.46 12.01 3.86 3.98 0 9779.10 06:20:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205014.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205015.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 3.98 13.08 3.94 3.98 0 15784.34 06:20:50 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205016.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.916667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205017.00,,,,,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,205018.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205019.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205020.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.60 3.11 12.40 3.95 3.97 0 24599.40 06:20:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205021.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205022.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205023.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.62 2.60 12.01 3.86 3.98 0 9778.91 06:20:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205024.00,,,,,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,205025.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 31.73 3.70 13.08 3.94 3.98 0 15783.99 06:21:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205026.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.916667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205027.00,,,,,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,205028.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205029.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205030.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.60 3.33 12.30 3.95 3.97 0 24599.05 06:21:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205031.00,,,,,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,205032.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205033.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.62 2.78 11.91 3.86 3.98 0 9778.61 06:21:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205034.00,,,,,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,205035.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 31.73 3.70 13.08 3.94 3.98 0 15783.73 06:21:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205036.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.916667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205037.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205038.00,,,,,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,205039.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205040.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.52 3.33 12.50 3.95 3.97 0 24598.83 06:21:15 m : AshtechGps::processRecord() - $GPGGA,205041.00,,,,,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,205042.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205043.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.62 2.67 11.91 3.86 3.98 0 9778.41 06:21:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205044.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205045.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 3.95 13.08 3.94 3.97 0 15783.36 06:21:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205046.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.916667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205047.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205048.00,,,,,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,205049.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205050.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.56 3.30 12.30 3.94 3.97 0 24598.47 06:21:25 m : AshtechGps::processRecord() - $GPGGA,205051.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205052.00,,,,,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,205053.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.62 2.75 11.91 3.85 3.98 0 9778.11 06:21:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205054.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205055.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 3.88 13.08 3.94 3.97 0 15783.09 06:21:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205056.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.910000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205057.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205058.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205059.00,,,,,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,205100.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.56 3.30 12.50 3.94 3.97 0 24598.23 06:21:35 m : AshtechGps::processRecord() - $GPGGA,205101.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205102.00,,,,,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,205103.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 31.58 2.89 11.91 3.85 3.98 0 9777.92 06:21:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205104.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205105.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 3.80 13.08 3.94 3.97 0 15782.69 06:21:40 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205106.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.910000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205107.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205108.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205109.00,,,,,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,205110.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.56 3.93 12.40 3.94 3.97 0 24597.88 06:21:45 m : AshtechGps::processRecord() - $GPGGA,205111.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205112.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205113.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.62 2.67 11.91 3.86 3.98 0 9777.61 06:21:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205114.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205115.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 4.16 13.08 3.94 3.97 0 15782.43 06:21:50 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205116.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.913333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205117.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205118.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205119.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205120.00,,,,,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: $aaq0 d- 31.60 3.33 12.50 3.94 3.97 0 24597.65 06:21:55 m : AshtechGps::processRecord() - $GPGGA,205121.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205122.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205123.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.58 3.04 11.91 3.86 3.98 0 9777.42 06:21:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205124.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205125.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 3.73 13.08 3.94 3.97 0 15782.05 06:22:00 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205126.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.913333 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205127.00,,,,,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,205128.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205129.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205130.00,,,,,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: $aaq0 d- 31.52 3.52 12.50 3.94 3.97 0 24597.29 06:22:05 m : AshtechGps::processRecord() - $GPGGA,205131.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205132.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205133.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.62 2.67 11.91 3.86 3.98 0 9777.12 06:22:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205134.00,,,,,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,205135.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 31.73 3.88 13.18 3.94 3.97 0 15781.80 06:22:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205136.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.913333 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205137.00,,,,,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,205138.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205139.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205140.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.52 3.41 12.50 3.94 3.97 0 24597.06 06:22:15 m : AshtechGps::processRecord() - $GPGGA,205141.00,,,,,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,205142.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205143.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.62 2.89 11.91 3.86 3.98 0 9776.92 06:22:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205144.00,,,,,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,205145.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 31.73 3.70 13.18 3.94 3.97 0 15781.36 06:22:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205146.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.913333 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205147.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205148.00,,,,,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,205149.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205150.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.56 3.63 12.50 3.94 3.97 0 24596.71 06:22:25 m : AshtechGps::processRecord() - $GPGGA,205151.00,,,,,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,205152.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205153.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.62 2.82 11.91 3.85 3.98 0 9776.62 06:22:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205154.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205155.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 3.77 13.18 3.94 3.97 0 15781.12 06:22:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205156.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.910000 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205157.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205158.00,,,,,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,205159.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205200.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.52 3.37 12.59 3.94 3.97 0 24596.48 06:22:35 m : AshtechGps::processRecord() - $GPGGA,205201.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205202.00,,,,,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,205203.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.62 2.78 11.91 3.85 3.98 0 9776.42 06:22:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205204.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205205.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 3.98 13.18 3.93 3.97 0 15780.72 06:22:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205206.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.906667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205207.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205208.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205209.00,,,,,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,205210.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.56 3.85 12.50 3.94 3.97 0 24596.11 06:22:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205211.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205212.00,,,,,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,205213.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 31.62 3.04 11.91 3.86 3.98 0 9776.09 06:22:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205214.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205215.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 3.91 13.18 3.93 3.97 0 15780.48 06:22:50 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205216.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.910000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205217.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205218.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205219.00,,,,,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,205220.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.56 3.41 12.59 3.94 3.97 0 24595.86 06:22:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205221.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205222.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205223.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.58 3.11 12.01 3.86 3.98 0 9775.89 06:22:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205224.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205225.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 4.24 13.18 3.94 3.97 0 15780.08 06:23:00 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205226.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.913333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205227.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205228.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205229.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205230.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.56 3.37 12.50 3.94 3.97 0 24595.50 06:23:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205231.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205232.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205233.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.62 2.78 12.01 3.85 3.98 0 9775.59 06:23:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205234.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205235.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 3.66 13.18 3.94 3.97 0 15779.85 06:23:10 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205236.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.910000 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205237.00,,,,,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,205238.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205239.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205240.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.52 4.75 12.50 3.94 3.97 0 24595.27 06:23:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205241.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205242.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205243.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.62 2.82 12.01 3.85 3.98 0 9775.40 06:23:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205244.00,,,,,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,205245.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 31.73 4.13 13.18 3.94 3.97 0 15779.48 06:23:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205246.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.910000 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205247.00,,,,,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,205248.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205249.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205250.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.52 3.48 12.59 3.94 3.97 0 24594.92 06:23:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205251.00,,,,,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,205252.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205253.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.62 2.82 12.01 3.86 3.98 0 9775.10 06:23:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205254.00,,,,,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,205255.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 31.73 3.73 13.18 3.94 3.97 0 15779.18 06:23:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205256.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.913333 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205257.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205258.00,,,,,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,205259.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205300.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.56 3.19 12.50 3.94 3.97 0 24594.67 06:23:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205301.00,,,,,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,205302.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205303.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.62 2.93 12.01 3.86 3.98 0 9774.90 06:23:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205304.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205305.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 3.95 13.18 3.94 3.97 0 15778.78 06:23:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205306.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.913333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205307.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205308.00,,,,,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,205309.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205310.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.52 3.41 12.59 3.94 3.97 0 24594.29 06:23:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205311.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205312.00,,,,,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,205313.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.62 2.78 11.91 3.86 3.98 0 9774.59 06:23:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205314.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205315.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 3.88 13.18 3.94 3.97 0 15778.54 06:23:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205316.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.913333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205317.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205318.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205319.00,,,,,0,00,,,M,,M,,*44 : 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,205320.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.52 4.00 12.50 3.94 3.97 0 24594.06 06:23:55 m : AshtechGps::processRecord() - $GPGGA,205321.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205322.00,,,,,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,205323.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 31.62 2.78 11.91 3.86 3.98 0 9774.39 06:23:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205324.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205325.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 3.62 13.18 3.94 3.97 0 15778.16 06:24:00 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205326.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.913333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205327.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205328.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205329.00,,,,,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,205330.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.48 4.71 12.50 3.94 3.97 0 24593.72 06:24:05 m : AshtechGps::processRecord() - $GPGGA,205331.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205332.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205333.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.62 2.86 11.91 3.86 3.98 0 9774.08 06:24:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205334.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205335.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 3.48 13.18 3.94 3.97 0 15777.92 06:24:10 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205336.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.913333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205337.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205338.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205339.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205340.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.56 3.30 12.59 3.94 3.97 0 24593.49 06:24:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205341.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205342.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205343.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.62 2.64 12.01 3.86 3.98 0 9773.89 06:24:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205344.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205345.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 3.23 13.18 3.94 3.97 0 15777.56 06:24:20 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205346.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.913333 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205347.00,,,,,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,205348.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205349.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205350.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.56 3.22 12.50 3.95 3.97 0 24593.15 06:24:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205351.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205352.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205353.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.62 2.82 11.91 3.86 3.98 0 9773.59 06:24:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205354.00,,,,,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,205355.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 31.73 3.55 13.08 3.94 3.97 0 15777.33 06:24:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205356.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.916667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205357.00,,,,,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,205358.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205359.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205400.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.52 3.26 12.50 3.95 3.97 0 24592.88 06:24:35 m : AshtechGps::processRecord() - $GPGGA,205401.00,,,,,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,205402.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205403.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.62 2.93 11.91 3.86 3.98 0 9773.40 06:24:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205404.00,,,,,0,00,,,M,,M,,*4F : 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,205405.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 31.73 3.44 13.08 3.94 3.97 0 15776.96 06:24:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205406.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.916667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205407.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205408.00,,,,,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,205409.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205410.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.56 3.11 12.50 3.94 3.97 0 24592.50 06:24:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205411.00,,,,,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,205412.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205413.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.62 2.67 12.01 3.86 3.98 0 9773.11 06:24:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205414.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205415.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 3.37 13.18 3.94 3.97 0 15776.73 06:24:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205416.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.913333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205417.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205418.00,,,,,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,205419.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205420.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.56 3.19 12.50 3.94 3.97 0 24592.24 06:24:55 m : AshtechGps::processRecord() - $GPGGA,205421.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205422.00,,,,,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,205423.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.62 2.78 11.91 3.86 3.98 0 9772.92 06:24:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205424.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205425.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 3.98 13.08 3.94 3.97 0 15776.37 06:25:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205426.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.913333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205427.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205428.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205429.00,,,,,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,205430.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.52 3.22 12.50 3.94 3.97 0 24591.89 06:25:05 m : AshtechGps::processRecord() - $GPGGA,205431.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205432.00,,,,,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,205433.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 31.62 2.86 11.91 3.86 3.98 0 9772.63 06:25:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205434.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205435.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 3.98 13.08 3.94 3.97 0 15776.14 06:25:10 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205436.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.913333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205437.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205438.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205439.00,,,,,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,205440.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.56 3.30 12.50 3.94 3.97 0 24591.66 06:25:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205441.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205442.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205443.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.58 2.75 11.91 3.86 3.98 0 9772.44 06:25:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205444.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205445.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 3.73 13.08 3.94 3.97 0 15775.75 06:25:20 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205446.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.913333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205447.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205448.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205449.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205450.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.56 3.19 12.50 3.94 3.97 0 24591.32 06:25:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205451.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205452.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205453.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.62 2.86 12.01 3.86 3.98 0 9772.14 06:25:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205454.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205455.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 3.70 13.08 3.94 3.97 0 15775.51 06:25:30 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205456.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.913333 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205457.00,,,,,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,205458.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205459.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205500.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.56 2.89 12.40 3.94 3.97 0 24591.10 06:25:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205501.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205502.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205503.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.62 2.64 12.01 3.86 3.98 0 9771.95 06:25:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205504.00,,,,,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,205505.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 3.84 13.08 3.94 3.97 0 15775.10 06:25:40 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205506.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.913333 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205507.00,,,,,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,205508.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205509.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205510.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.56 3.07 12.40 3.94 3.97 0 24590.76 06:25:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205511.00,,,,,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,205512.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205513.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.58 2.78 12.01 3.86 3.98 0 9771.66 06:25:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205514.00,,,,,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,205515.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 31.73 3.55 13.08 3.94 3.97 0 15774.88 06:25:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205516.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.913333 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205517.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205518.00,,,,,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,205519.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205520.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.56 3.19 12.30 3.94 3.97 0 24590.54 06:25:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205521.00,,,,,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,205522.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205523.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.58 2.60 11.91 3.86 3.98 0 9771.48 06:25:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205524.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205525.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 3.52 13.08 3.94 3.97 0 15774.54 06:26:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205526.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.913333 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205527.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205528.00,,,,,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,205529.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205530.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.56 3.15 12.30 3.94 3.97 0 24590.19 06:26:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205531.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205532.00,,,,,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,205533.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.58 2.75 11.91 3.86 3.98 0 9771.15 06:26:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205534.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205535.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.66 5.71 13.08 3.94 3.97 0 15774.30 06:26:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205536.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.913333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205537.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205538.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205539.00,,,,,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,205540.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.52 3.22 12.40 3.94 3.97 0 24589.96 06:26:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205541.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205542.00,,,,,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,205543.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.62 2.60 12.01 3.86 3.98 0 9770.96 06:26:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205544.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205545.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 3.73 13.08 3.94 3.97 0 15773.95 06:26:20 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205546.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.913333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205547.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205548.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205549.00,,,,,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,205550.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.56 3.26 12.40 3.94 3.97 0 24589.61 06:26:25 m : AshtechGps::processRecord() - $GPGGA,205551.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205552.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205553.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.62 2.60 11.91 3.86 3.98 0 9770.67 06:26:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205554.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205555.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 3.77 13.08 3.94 3.97 0 15773.71 06:26:30 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205556.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.913333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205557.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205558.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205559.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205600.00,,,,,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: $aaq0 d- 31.56 3.11 12.50 3.94 3.97 0 24589.40 06:26:35 m : AshtechGps::processRecord() - $GPGGA,205601.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205602.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205603.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.58 2.75 11.91 3.86 3.98 0 9770.47 06:26:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205604.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205605.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 3.37 13.08 3.94 3.97 0 15773.35 06:26:40 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205606.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.913333 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205607.00,,,,,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,205608.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205609.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205610.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.56 3.04 12.30 3.94 3.97 0 24589.05 06:26:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205611.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205612.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205613.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.58 2.93 11.91 3.85 3.98 0 9770.15 06:26:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205614.00,,,,,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,205615.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 3.62 13.08 3.94 3.97 0 15773.12 06:26:50 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205616.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.910000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205617.00,,,,,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,205618.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205619.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205620.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.56 3.33 12.30 3.94 3.97 0 24588.82 06:26:55 m : AshtechGps::processRecord() - $GPGGA,205621.00,,,,,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,205622.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205623.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.55 3.26 11.91 3.85 3.98 0 9769.95 06:26:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205624.00,,,,,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,205625.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 31.69 3.95 13.08 3.92 3.96 0 15772.72 06:27:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205626.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.903333 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205627.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205628.00,,,,,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,205629.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205630.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.52 3.19 12.40 3.94 3.96 0 24588.46 06:27:05 m : AshtechGps::processRecord() - $GPGGA,205631.00,,,,,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,205632.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205633.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.58 2.86 11.91 3.85 3.98 0 9769.65 06:27:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205634.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205635.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.69 4.67 13.08 3.92 3.96 0 15772.47 06:27:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205636.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.903333 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205637.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205638.00,,,,,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,205639.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205640.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.52 3.52 12.40 3.94 3.96 0 24588.23 06:27:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205641.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205642.00,,,,,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,205643.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.58 2.89 11.91 3.85 3.98 0 9769.45 06:27:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205644.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205645.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 3.84 13.08 3.93 3.97 0 15772.09 06:27:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205646.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.906667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205647.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205648.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205649.00,,,,,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,205650.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.48 3.41 12.30 3.94 3.96 0 24587.85 06:27:25 m : AshtechGps::processRecord() - $GPGGA,205651.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205652.00,,,,,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,205653.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 31.58 2.93 11.91 3.86 3.98 0 9769.15 06:27:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205654.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205655.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.69 3.91 13.08 3.93 3.97 0 15771.83 06:27:30 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205656.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.910000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205657.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205658.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205659.00,,,,,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,205700.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.48 3.59 12.50 3.94 3.96 0 24587.60 06:27:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205701.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205702.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205703.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.55 3.26 11.91 3.86 3.98 0 9768.93 06:27:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205704.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205705.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.69 3.88 13.08 3.93 3.97 0 15771.40 06:27:40 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205706.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.910000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205707.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205708.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205709.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205710.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.52 3.33 12.50 3.94 3.96 0 24587.26 06:27:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205711.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205712.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205713.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.58 3.00 11.91 3.85 3.97 0 9768.63 06:27:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205714.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205715.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.69 3.84 13.18 3.93 3.97 0 15771.15 06:27:50 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205716.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.906667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205717.00,,,,,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,205718.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205719.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205720.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.56 3.41 12.50 3.94 3.96 0 24587.02 06:27:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205721.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205722.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205723.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.55 3.04 11.91 3.85 3.97 0 9768.43 06:27:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205724.00,,,,,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,205725.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 31.73 3.70 13.08 3.93 3.97 0 15770.74 06:28:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205726.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.906667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205727.00,,,,,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,205728.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205729.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205730.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.52 3.11 12.50 3.94 3.97 0 24586.62 06:28:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205731.00,,,,,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,205732.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205733.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.47 4.05 11.91 3.85 3.98 0 9768.12 06:28:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205734.00,,,,,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,205735.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 31.73 3.55 13.18 3.93 3.97 0 15770.49 06:28:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205736.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.906667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205737.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205738.00,,,,,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,205739.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205740.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.48 3.48 12.50 3.94 3.97 0 24586.37 06:28:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205741.00,,,,,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,205742.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205743.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.58 2.75 11.91 3.85 3.98 0 9767.90 06:28:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205744.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205745.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.69 3.80 13.08 3.93 3.97 0 15770.11 06:28:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205746.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.906667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205747.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205748.00,,,,,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,205749.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205750.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.56 3.37 12.59 3.94 3.96 0 24586.00 06:28:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205751.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205752.00,,,,,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,205753.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.55 3.00 11.91 3.86 3.98 0 9767.58 06:28:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205754.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205755.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.69 3.80 13.18 3.93 3.97 0 15769.85 06:28:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205756.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.910000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205757.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205758.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205759.00,,,,,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,205800.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.52 3.33 12.50 3.94 3.96 0 24585.76 06:28:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205801.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205802.00,,,,,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,205803.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 31.58 2.86 11.91 3.86 3.98 0 9767.38 06:28:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205804.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205805.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.69 3.62 13.18 3.93 3.97 0 15769.47 06:28:40 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205806.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.910000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205807.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205808.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205809.00,,,,,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,205810.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.52 3.37 12.59 3.94 3.96 0 24585.39 06:28:45 m : AshtechGps::processRecord() - $GPGGA,205811.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205812.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205813.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.58 2.89 11.91 3.85 3.98 0 9767.08 06:28:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205814.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205815.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.69 3.80 13.18 3.93 3.97 0 15769.22 06:28:50 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205816.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.906667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205817.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205818.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205819.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205820.00,,,,,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: $aaq0 d- 31.52 3.48 12.59 3.94 3.96 0 24585.14 06:28:55 m : AshtechGps::processRecord() - $GPGGA,205821.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205822.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205823.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.58 2.93 11.91 3.85 3.98 0 9766.84 06:28:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205824.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205825.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 3.66 13.18 3.93 3.97 0 15768.84 06:29:00 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205826.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.906667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205827.00,,,,,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,205828.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205829.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205830.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.52 3.19 12.59 3.94 3.96 0 24584.79 06:29:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205831.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205832.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205833.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.58 2.86 11.91 3.85 3.98 0 9766.53 06:29:08 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205834.00,,,,,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,205835.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.69 3.77 13.18 3.93 3.97 0 15768.58 06:29:10 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205836.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.906667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205837.00,,,,,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,205838.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205839.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205840.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.48 3.56 12.50 3.94 3.96 0 24584.54 06:29:15 m : AshtechGps::processRecord() - $GPGGA,205841.00,,,,,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,205842.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205843.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.58 2.82 11.91 3.85 3.98 0 9766.33 06:29:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205844.00,,,,,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,205845.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 31.69 3.77 13.18 3.93 3.97 0 15768.20 06:29:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205846.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.906667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205847.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205848.00,,,,,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,205849.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205850.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.56 3.33 12.50 3.94 3.96 0 24584.20 06:29:25 m : AshtechGps::processRecord() - $GPGGA,205851.00,,,,,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,205852.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205853.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.55 3.22 11.91 3.85 3.98 0 9766.02 06:29:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205854.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205855.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 3.66 13.18 3.93 3.97 0 15767.93 06:29:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205856.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.906667 : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205857.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205858.00,,,,,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,205859.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205900.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.56 3.33 12.59 3.94 3.96 0 24583.96 06:29:35 m : AshtechGps::processRecord() - $GPGGA,205901.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205902.00,,,,,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,205903.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.55 2.93 11.91 3.85 3.98 0 9765.79 06:29:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205904.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205905.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.69 3.62 13.18 3.93 3.97 0 15767.56 06:29:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205906.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.906667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205907.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205908.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205909.00,,,,,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,205910.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.52 3.11 12.59 3.94 3.96 0 24583.60 06:29:45 m : AshtechGps::processRecord() - $GPGGA,205911.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=80.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205912.00,,,,,0,00,,,M,,M,,*45 : 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,205913.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 31.58 2.96 11.91 3.86 3.98 0 9765.49 06:29:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205914.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205915.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 3.55 13.08 3.93 3.97 0 15767.30 06:29:50 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205916.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.910000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205917.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205918.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205919.00,,,,,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,205920.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.56 3.22 12.50 3.94 3.96 0 24583.37 06:29:55 m : AshtechGps::processRecord() - $GPGGA,205921.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205922.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205923.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.55 2.82 12.01 3.86 3.98 0 9765.29 06:29:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205924.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205925.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 3.41 13.18 3.94 3.97 0 15766.91 06:30:00 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205926.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.913333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205927.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205928.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205929.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205930.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.56 3.19 12.59 3.94 3.96 0 24583.03 06:30:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205931.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205932.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205933.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.58 2.71 11.91 3.86 3.98 0 9764.99 06:30:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205934.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205935.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 3.80 13.18 3.94 3.97 0 15766.65 06:30:10 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205936.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.913333 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205937.00,,,,,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,205938.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205939.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205940.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.56 3.15 12.59 3.94 3.96 0 24582.76 06:30:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205941.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205942.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205943.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.58 2.78 12.01 3.86 3.98 0 9764.78 06:30:18 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205944.00,,,,,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,205945.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.69 3.98 13.18 3.94 3.97 0 15766.28 06:30:20 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205946.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.913333 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205947.00,,,,,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,205948.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205949.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205950.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.52 3.19 12.50 3.94 3.96 0 24582.44 06:30:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205951.00,,,,,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,205952.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205953.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.58 2.78 11.91 3.85 3.98 0 9764.50 06:30:28 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205954.00,,,,,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,205955.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 31.69 3.88 13.18 3.94 3.97 0 15766.05 06:30:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205956.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.910000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205957.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,205958.00,,,,,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,205959.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210000.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.56 3.15 12.50 3.94 3.96 0 24582.22 06:30:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210001.00,,,,,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,210002.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210003.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.58 2.60 11.91 3.85 3.98 0 9764.30 06:30:38 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210004.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210005.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 3.52 13.18 3.94 3.97 0 15765.71 06:30:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210006.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.910000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210007.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210008.00,,,,,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,210009.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210010.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.56 3.07 12.50 3.94 3.97 0 24581.90 06:30:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210011.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210012.00,,,,,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,210013.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.55 2.93 11.91 3.86 3.98 0 9763.97 06:30:48 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210014.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210015.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.69 3.59 13.08 3.94 3.97 0 15765.47 06:30:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210016.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.70 speedMode=1 speed=1.50 : Waypoint has set the state to finished. : Waypoint (4074887.2, 597658.7), reached at t = 6172.60 (wplog) : Vehicle Position is error is (0.1, 0.1) : LayeredControl::execute() -- (t = 6172.597148) Behavior waypoint_yoyo:1023490 has changed to state Finished : LayeredControl - sending BehaviorFinished:1023490 msg to VcsServer : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.913333 : *** Stack empty after processing. Waiting on VCS... : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210017.00,,,,,0,00,,,M,,M,,*4D : 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,210018.00,,,,,0,00,,,M,,M,,*42 : 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,210019.00,,,,,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,210020.00,,,,,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: $aaq0 d- 31.56 2.70 12.50 3.94 3.97 0 24581.66 06:30:55 m : AshtechGps::processRecord() - $GPGGA,210021.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : 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= 6178.15 (wplog) The current location (N,E) = 4074887.1 , 597650.1 (wplog) The next waypoint = 4078770.2 , 597613.7 (wplog) The bearing to the next w.p. is 359.5 Degrees. : LayeredControl::execute() -- (t = 6178.146768) Behavior waypoint_yoyo:1066036 has changed to state Active : LayeredControl - waypoint_yoyo BehaviorStarted:1066036 msg to VcsServer : 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,210022.00,,,,,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,210023.00,,,,,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- 31.58 2.53 11.91 3.86 3.98 0 9763.79 06:30:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210024.00,,,,,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,210025.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.69 3.98 13.08 3.93 3.97 0 15765.13 06:31:00 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,210026.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.910000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210027.00,,,,,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,210028.00,,,,,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,210029.00,,,,,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,210030.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.56 2.55 12.50 3.94 3.96 0 24581.34 06:31:05 m : AshtechGps::processRecord() - $GPGGA,210031.00,,,,,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,210032.00,,,,,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,210033.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.58 2.71 11.91 3.85 3.98 0 9763.51 06:31:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210034.00,,,,,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,210035.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 3.41 13.08 3.93 3.97 0 15764.84 06:31:10 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,210036.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.906667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210037.00,,,,,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,210038.00,,,,,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,210039.00,,,,,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,210040.00,,,,,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: $aaq0 d- 31.48 3.15 12.50 3.94 3.96 0 24581.13 06:31:15 m : AshtechGps::processRecord() - $GPGGA,210041.00,,,,,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,210042.00,,,,,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,210043.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.58 3.04 11.91 3.85 3.98 0 9763.27 06:31:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210044.00,,,,,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,210045.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.69 3.98 13.08 3.93 3.97 0 15764.45 06:31:20 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,210046.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.906667 : 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,210047.00,,,,,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,210048.00,,,,,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,210049.00,,,,,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,210050.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.48 3.52 12.50 3.94 3.96 0 24580.76 06:31:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210051.00,,,,,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,210052.00,,,,,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,210053.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.55 3.15 11.91 3.85 3.98 0 9762.94 06:31:28 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,210054.00,,,,,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,210055.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.69 4.38 13.08 3.93 3.97 0 15764.17 06:31:30 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,210056.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.906667 : 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,210057.00,,,,,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,210058.00,,,,,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,210059.00,,,,,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,210100.00,,,,,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: $aaq0 d- 31.52 3.33 12.50 3.94 3.96 0 24580.52 06:31:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210101.00,,,,,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,210102.00,,,,,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,210103.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.58 3.00 11.91 3.85 3.98 0 9762.73 06:31:38 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,210104.00,,,,,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,210105.00,,,,,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 : BluefinBatt Reply: $c0q0 d- 31.66 3.77 13.08 3.93 3.97 0 15763.78 06:31:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210106.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.906667 : 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,210107.00,,,,,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,210108.00,,,,,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,210109.00,,,,,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,210110.00,,,,,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: $aaq0 d- 31.48 3.26 12.50 3.94 3.96 0 24580.17 06:31:45 m : AshtechGps::processRecord() - $GPGGA,210111.00,,,,,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,210112.00,,,,,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,210113.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.55 3.00 11.91 3.85 3.98 0 9762.41 06:31:48 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,210114.00,,,,,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,210115.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.69 3.73 13.18 3.93 3.97 0 15763.53 06:31:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210116.00,,,,,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 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.906667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210117.00,,,,,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,210118.00,,,,,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,210119.00,,,,,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,210120.00,,,,,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: $aaq0 d- 31.48 3.19 12.50 3.94 3.96 0 24579.90 06:31:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210121.00,,,,,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,210122.00,,,,,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,210123.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.51 3.87 11.91 3.85 3.98 0 9762.18 06:31:58 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,210124.00,,,,,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,210125.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.69 4.13 13.18 3.93 3.97 0 15763.14 06:32:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210126.00,,,,,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 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.906667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210127.00,,,,,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,210128.00,,,,,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,210129.00,,,,,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,210130.00,,,,,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: $aaq0 d- 31.48 3.37 12.59 3.94 3.96 0 24579.53 06:32:05 m : AshtechGps::processRecord() - $GPGGA,210131.00,,,,,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,210132.00,,,,,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,210133.00,,,,,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- 31.55 2.86 11.91 3.85 3.97 0 9761.86 06:32:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210134.00,,,,,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,210135.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.69 3.77 13.18 3.93 3.97 0 15762.90 06:32:10 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,210136.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.906667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210137.00,,,,,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,210138.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : 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,210139.00,,,,,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,210140.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.52 3.33 12.50 3.94 3.96 0 24579.30 06:32:15 m : AshtechGps::processRecord() - $GPGGA,210141.00,,,,,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,210142.00,,,,,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,210143.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.55 2.96 11.91 3.85 3.97 0 9761.66 06:32:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210144.00,,,,,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,210145.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.69 3.55 13.18 3.93 3.97 0 15762.53 06:32:20 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,210146.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.906667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210147.00,,,,,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,210148.00,,,,,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,210149.00,,,,,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,210150.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.48 3.48 12.59 3.94 3.96 0 24578.97 06:32:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210151.00,,,,,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,210152.00,,,,,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,210153.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.55 2.75 11.91 3.85 3.98 0 9761.35 06:32:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210154.00,,,,,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,210155.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.69 3.44 13.18 3.93 3.97 0 15762.28 06:32:30 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,210156.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.906667 : 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,210157.00,,,,,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,210158.00,,,,,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,210159.00,,,,,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,210200.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.52 3.07 12.50 3.94 3.96 0 24578.74 06:32:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210201.00,,,,,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,210202.00,,,,,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,210203.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.55 2.86 12.01 3.85 3.98 0 9761.14 06:32:38 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,210204.00,,,,,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,210205.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.69 3.70 13.18 3.93 3.97 0 15761.91 06:32:40 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,210206.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.906667 : 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,210207.00,,,,,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,210208.00,,,,,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,210209.00,,,,,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,210210.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.52 3.26 12.50 3.94 3.96 0 24578.42 06:32:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210211.00,,,,,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,210212.00,,,,,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,210213.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.55 2.86 12.01 3.85 3.98 0 9760.84 06:32:48 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,210214.00,,,,,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,210215.00,,,,,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 : BluefinBatt Reply: $c0q0 d- 31.69 3.41 13.18 3.93 3.97 0 15761.67 06:32:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210216.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.906667 : 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,210217.00,,,,,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,210218.00,,,,,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,210219.00,,,,,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,210220.00,,,,,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: $aaq0 d- 31.56 3.15 12.59 3.94 3.96 0 24578.19 06:32:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210221.00,,,,,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,210222.00,,,,,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,210223.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.58 2.71 12.01 3.85 3.98 0 9760.64 06:32:58 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,210224.00,,,,,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,210225.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.69 3.84 13.18 3.93 3.96 0 15761.30 06:33:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210226.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.906667 : 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,210227.00,,,,,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,210228.00,,,,,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,210229.00,,,,,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,210230.00,,,,,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: $aaq0 d- 31.48 3.52 12.59 3.94 3.96 0 24577.84 06:33:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210231.00,,,,,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,210232.00,,,,,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,210233.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.55 2.86 12.01 3.85 3.98 0 9760.35 06:33:08 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,210234.00,,,,,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,210235.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.69 3.52 13.08 3.93 3.96 0 15761.07 06:33:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210236.00,,,,,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 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.906667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210237.00,,,,,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,210238.00,,,,,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,210239.00,,,,,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,210240.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.41 3.97 12.50 3.94 3.96 0 24577.61 06:33:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210241.00,,,,,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,210242.00,,,,,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,210243.00,,,,,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- 31.55 2.82 12.01 3.85 3.98 0 9760.16 06:33:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210244.00,,,,,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,210245.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.69 3.48 13.08 3.93 3.97 0 15760.71 06:33:20 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,210246.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.906667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210247.00,,,,,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,210248.00,,,,,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,210249.00,,,,,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,210250.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.52 3.11 12.50 3.94 3.96 0 24577.28 06:33:25 m : AshtechGps::processRecord() - $GPGGA,210251.00,,,,,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,210252.00,,,,,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,210253.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.58 2.67 12.01 3.85 3.98 0 9759.87 06:33:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210254.00,,,,,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,210255.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.69 3.44 13.08 3.93 3.97 0 15760.46 06:33:30 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,210256.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.906667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210257.00,,,,,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,210258.00,,,,,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,210259.00,,,,,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,210300.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.52 3.22 12.30 3.94 3.96 0 24577.07 06:33:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210301.00,,,,,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,210302.00,,,,,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,210303.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.55 2.89 12.01 3.85 3.98 0 9759.67 06:33:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210304.00,,,,,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,210305.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.69 3.44 13.08 3.93 3.97 0 15760.09 06:33:40 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,210306.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.906667 : 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,210307.00,,,,,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,210308.00,,,,,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,210309.00,,,,,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,210310.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.52 3.04 12.40 3.94 3.96 0 24576.74 06:33:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210311.00,,,,,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,210312.00,,,,,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,210313.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.58 2.71 11.91 3.85 3.98 0 9759.32 06:33:48 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,210314.00,,,,,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,210315.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.69 3.62 13.08 3.93 3.97 0 15759.85 06:33:50 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,210316.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.906667 : 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,210317.00,,,,,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,210318.00,,,,,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,210319.00,,,,,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,210320.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.48 3.37 12.30 3.94 3.96 0 24576.53 06:33:55 m : AshtechGps::processRecord() - $GPGGA,210321.00,,,,,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,210322.00,,,,,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,210323.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.55 2.89 11.91 3.85 3.98 0 9759.13 06:33:58 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,210324.00,,,,,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,210325.00,,,,,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 : BluefinBatt Reply: $c0q0 d- 31.66 3.88 13.08 3.93 3.97 0 15759.51 06:34:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210326.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.906667 : 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,210327.00,,,,,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,210328.00,,,,,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,210329.00,,,,,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,210330.00,,,,,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: $aaq0 d- 31.41 3.75 12.40 3.94 3.96 0 24576.18 06:34:05 m : AshtechGps::processRecord() - $GPGGA,210331.00,,,,,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,210332.00,,,,,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,210333.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.55 2.82 11.91 3.85 3.98 0 9758.82 06:34:08 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,210334.00,,,,,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,210335.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.69 3.88 13.08 3.93 3.97 0 15759.28 06:34:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210336.00,,,,,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 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.906667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210337.00,,,,,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,210338.00,,,,,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,210339.00,,,,,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,210340.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.48 3.67 12.40 3.94 3.96 0 24575.96 06:34:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210341.00,,,,,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,210342.00,,,,,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,210343.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.55 2.93 12.01 3.85 3.98 0 9758.63 06:34:18 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,210344.00,,,,,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,210345.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.69 3.70 13.08 3.93 3.96 0 15758.92 06:34:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210346.00,,,,,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 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.906667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210347.00,,,,,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,210348.00,,,,,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,210349.00,,,,,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,210350.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.56 3.00 12.30 3.94 3.96 0 24575.61 06:34:25 m : AshtechGps::processRecord() - $GPGGA,210351.00,,,,,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,210352.00,,,,,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,210353.00,,,,,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- 31.55 2.64 11.91 3.85 3.98 0 9758.33 06:34:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210354.00,,,,,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,210355.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.69 3.48 13.08 3.93 3.96 0 15758.68 06:34:30 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,210356.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.906667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210357.00,,,,,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,210358.00,,,,,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,210359.00,,,,,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,210400.00,,,,,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: $aaq0 d- 31.52 3.04 12.30 3.94 3.96 0 24575.40 06:34:35 m : AshtechGps::processRecord() - $GPGGA,210401.00,,,,,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,210402.00,,,,,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,210403.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.55 2.93 11.91 3.85 3.98 0 9758.15 06:34:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210404.00,,,,,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,210405.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.66 3.91 13.08 3.93 3.96 0 15758.27 06:34:40 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,210406.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.906667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210407.00,,,,,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,210408.00,,,,,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,210409.00,,,,,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,210410.00,,,,,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- 31.48 3.07 12.30 3.94 3.96 0 24575.01 06:34:45 m : AshtechGps::processRecord() - $GPGGA,210411.00,,,,,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,210412.00,,,,,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,210413.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.58 2.60 11.91 3.85 3.98 0 9757.85 06:34:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210414.00,,,,,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,210415.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.66 3.77 13.08 3.93 3.96 0 15758.02 06:34:50 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,210416.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.906667 : 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,210417.00,,,,,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,210418.00,,,,,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,210419.00,,,,,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,210420.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.48 3.15 12.40 3.94 3.96 0 24574.75 06:34:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210421.00,,,,,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,210422.00,,,,,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,210423.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.51 3.07 11.91 3.85 3.98 0 9757.66 06:34:58 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,210424.00,,,,,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,210425.00,,,,,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 : BluefinBatt Reply: $c0q0 d- 31.66 3.59 13.08 3.92 3.96 0 15757.65 06:35:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210426.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.903333 : 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,210427.00,,,,,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,210428.00,,,,,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,210429.00,,,,,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,210430.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.41 4.64 12.30 3.94 3.96 0 24574.41 06:35:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210431.00,,,,,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,210432.00,,,,,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,210433.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.55 2.82 11.91 3.85 3.97 0 9757.36 06:35:08 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,210434.00,,,,,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,210435.00,,,,,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: $c0q0 d- 31.66 3.88 12.98 3.92 3.96 0 15757.39 06:35:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210436.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.903333 : 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,210437.00,,,,,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,210438.00,,,,,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,210439.00,,,,,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,210440.00,,,,,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: $aaq0 d- 31.52 3.15 12.30 3.94 3.96 0 24574.13 06:35:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210441.00,,,,,0,00,,,M,,M,,*4A : 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,210442.00,,,,,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,210443.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.55 2.78 11.81 3.85 3.97 0 9757.14 06:35:18 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,210444.00,,,,,0,00,,,M,,M,,*4F : 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 : AshtechGps::processRecord() - $GPGGA,210445.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.66 3.80 13.08 3.93 3.96 0 15757.01 06:35:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210446.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.906667 : 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,210447.00,,,,,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,210448.00,,,,,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,210449.00,,,,,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,210450.00,,,,,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: $aaq0 d- 31.52 3.26 12.30 3.93 3.96 0 24573.79 06:35:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210451.00,,,,,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,210452.00,,,,,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,210453.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.55 2.60 11.81 3.85 3.97 0 9756.84 06:35:28 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,210454.00,,,,,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,210455.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 4.60 13.08 3.93 3.96 0 15756.76 06:35:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210456.00,,,,,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 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.903333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210457.00,,,,,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,210458.00,,,,,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,210459.00,,,,,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,210500.00,,,,,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: $aaq0 d- 31.44 3.89 12.30 3.93 3.96 0 24573.56 06:35:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210501.00,,,,,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,210502.00,,,,,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,210503.00,,,,,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- 31.55 2.86 11.91 3.85 3.97 0 9756.64 06:35:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210504.00,,,,,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,210505.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.66 4.16 13.08 3.93 3.96 0 15756.37 06:35:40 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,210506.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.903333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210507.00,,,,,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,210508.00,,,,,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,210509.00,,,,,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,210510.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.48 3.59 12.30 3.93 3.96 0 24573.19 06:35:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210511.00,,,,,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,210512.00,,,,,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,210513.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.55 2.82 11.81 3.85 3.97 0 9756.34 06:35:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210514.00,,,,,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,210515.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.66 3.77 13.08 3.93 3.96 0 15756.11 06:35:50 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,210516.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.903333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210517.00,,,,,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,210518.00,,,,,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,210519.00,,,,,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,210520.00,,,,,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: $aaq0 d- 31.44 3.37 12.40 3.93 3.96 0 24572.95 06:35:55 m : AshtechGps::processRecord() - $GPGGA,210521.00,,,,,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,210522.00,,,,,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,210523.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.51 2.96 11.81 3.85 3.97 0 9756.13 06:35:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210524.00,,,,,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,210525.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 4.06 13.08 3.92 3.96 0 15755.72 06:36:00 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,210526.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.900000 : 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,210527.00,,,,,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,210528.00,,,,,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,210529.00,,,,,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,210530.00,,,,,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: $aaq0 d- 31.48 3.56 12.30 3.93 3.96 0 24572.61 06:36:05 m : AshtechGps::processRecord() - $GPGGA,210531.00,,,,,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,210532.00,,,,,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,210533.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.55 2.86 11.81 3.85 3.97 0 9755.81 06:36:08 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,210534.00,,,,,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,210535.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.69 3.66 13.08 3.92 3.96 0 15755.47 06:36:10 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,210536.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.900000 : 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,210537.00,,,,,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,210538.00,,,,,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,210539.00,,,,,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,210540.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.48 3.37 12.30 3.93 3.96 0 24572.39 06:36:15 m : AshtechGps::processRecord() - $GPGGA,210541.00,,,,,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,210542.00,,,,,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,210543.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.51 2.93 11.81 3.85 3.97 0 9755.61 06:36:18 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,210544.00,,,,,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,210545.00,,,,,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 : BluefinBatt Reply: $c0q0 d- 31.66 3.95 13.08 3.93 3.96 0 15755.07 06:36:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210546.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.903333 : 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,210547.00,,,,,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,210548.00,,,,,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,210549.00,,,,,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,210550.00,,,,,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: $aaq0 d- 31.44 3.41 12.40 3.93 3.96 0 24572.03 06:36:25 m : AshtechGps::processRecord() - $GPGGA,210551.00,,,,,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,210552.00,,,,,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,210553.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.55 2.86 11.91 3.85 3.97 0 9755.31 06:36:28 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,210554.00,,,,,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,210555.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 3.91 13.08 3.93 3.96 0 15754.80 06:36:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210556.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.903333 : 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,210557.00,,,,,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,210558.00,,,,,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,210559.00,,,,,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,210600.00,,,,,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: $aaq0 d- 31.48 3.56 12.30 3.93 3.96 0 24571.80 06:36:35 m : AshtechGps::processRecord() - $GPGGA,210601.00,,,,,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,210602.00,,,,,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,210603.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.55 2.78 11.91 3.85 3.97 0 9755.10 06:36:38 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,210604.00,,,,,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,210605.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 3.88 13.08 3.93 3.96 0 15754.44 06:36:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210606.00,,,,,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 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.903333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210607.00,,,,,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,210608.00,,,,,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,210609.00,,,,,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,210610.00,,,,,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: $aaq0 d- 31.44 3.37 12.50 3.93 3.96 0 24571.41 06:36:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210611.00,,,,,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,210612.00,,,,,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,210613.00,,,,,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 : BluefinBatt Reply: $b6q0 d- 31.51 2.86 11.81 3.85 3.97 0 9754.79 06:36:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210614.00,,,,,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,210615.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.66 3.80 13.08 3.93 3.96 0 15754.18 06:36:50 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,210616.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.903333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210617.00,,,,,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,210618.00,,,,,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,210619.00,,,,,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,210620.00,,,,,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: $aaq0 d- 31.52 3.19 12.40 3.93 3.96 0 24571.17 06:36:55 m : AshtechGps::processRecord() - $GPGGA,210621.00,,,,,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,210622.00,,,,,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,210623.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.51 3.11 11.81 3.85 3.97 0 9754.58 06:36:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210624.00,,,,,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,210625.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.69 3.55 13.08 3.93 3.96 0 15753.80 06:37:00 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,210626.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.903333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210627.00,,,,,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,210628.00,,,,,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,210629.00,,,,,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,210630.00,,,,,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- 31.48 3.37 12.50 3.93 3.96 0 24570.81 06:37:05 m : AshtechGps::processRecord() - $GPGGA,210631.00,,,,,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,210632.00,,,,,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,210633.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.51 3.07 11.91 3.85 3.97 0 9754.28 06:37:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210634.00,,,,,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,210635.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.66 4.02 13.08 3.93 3.96 0 15753.55 06:37:10 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,210636.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.903333 : 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,210637.00,,,,,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,210638.00,,,,,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,210639.00,,,,,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,210640.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.48 3.41 12.50 3.93 3.96 0 24570.58 06:37:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210641.00,,,,,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,210642.00,,,,,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,210643.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.55 2.96 11.91 3.85 3.97 0 9754.04 06:37:18 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,210644.00,,,,,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,210645.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.66 3.62 13.08 3.93 3.96 0 15753.17 06:37:20 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,210646.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.903333 : 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,210647.00,,,,,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,210648.00,,,,,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,210649.00,,,,,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,210650.00,,,,,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: $aaq0 d- 31.44 3.48 12.50 3.93 3.96 0 24570.21 06:37:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210651.00,,,,,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,210652.00,,,,,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,210653.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.51 3.00 11.81 3.85 3.97 0 9753.72 06:37:28 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,210654.00,,,,,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,210655.00,,,,,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: $c0q0 d- 31.58 4.85 13.08 3.93 3.96 0 15752.92 06:37:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210656.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.903333 : 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,210657.00,,,,,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,210658.00,,,,,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,210659.00,,,,,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,210700.00,,,,,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: $aaq0 d- 31.48 3.22 12.50 3.93 3.96 0 24569.97 06:37:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210701.00,,,,,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,210702.00,,,,,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,210703.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.51 2.89 11.81 3.85 3.97 0 9753.51 06:37:38 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,210704.00,,,,,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,210705.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.66 3.80 13.08 3.93 3.96 0 15752.54 06:37:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210706.00,,,,,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 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.903333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210707.00,,,,,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,210708.00,,,,,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,210709.00,,,,,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,210710.00,,,,,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: $aaq0 d- 31.48 3.41 12.50 3.93 3.96 0 24569.62 06:37:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210711.00,,,,,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,210712.00,,,,,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,210713.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.55 2.78 11.91 3.85 3.97 0 9753.20 06:37:48 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,210714.00,,,,,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,210715.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 3.91 13.08 3.93 3.96 0 15752.30 06:37:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210716.00,,,,,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 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.903333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210717.00,,,,,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,210718.00,,,,,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,210719.00,,,,,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,210720.00,,,,,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: $aaq0 d- 31.44 3.48 12.59 3.93 3.96 0 24569.41 06:37:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210721.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.852742 under allowable altitude 10.000000. Stopping! : resetting depth trajectory : DepthEnvelope -- Measured altitude 9.852742 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.852742 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.852742 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.852742 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210722.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.852742 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.852742 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.366567 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.366567 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.366567 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210723.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.366567 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- 31.55 2.86 11.91 3.85 3.97 0 9753.00 06:37:58 m : DepthEnvelope -- Measured altitude 9.366567 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.366567 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.366567 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.366567 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210724.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.794423 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.794423 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.794423 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.794423 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.794423 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210725.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.794423 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.77 1.43 13.08 3.94 3.97 0 15751.97 06:38:00 m : DepthEnvelope -- Measured altitude 8.794423 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.298806 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.298806 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.298806 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 : AshtechGps::processRecord() - $GPGGA,210726.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.298806 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.906667 : DepthEnvelope -- Measured altitude 8.298806 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.298806 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.298806 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.588897 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210727.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.588897 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.588897 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.588897 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.588897 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.588897 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210728.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.588897 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.588897 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.854057 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.854057 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.854057 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210729.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.854057 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.854057 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.854057 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.854057 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.260163 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210730.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.260163 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.260163 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.260163 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.260163 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.260163 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.60 0.92 12.50 3.95 3.97 0 24569.21 06:38:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210731.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.260163 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.260163 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.107682 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.107682 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.107682 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210732.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.107682 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.107682 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.107682 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.107682 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.112851 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 : AshtechGps::processRecord() - $GPGGA,210733.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.112851 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.62 1.19 11.91 3.86 3.98 0 9752.86 06:38:08 m : DepthEnvelope -- Measured altitude 6.112851 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.112851 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.112851 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.112851 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210734.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.112851 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.328218 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.328218 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.328218 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.328218 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210735.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.328218 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.328218 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.73 1.57 13.08 3.94 3.97 0 15751.88 06:38:10 m : DepthEnvelope -- Measured altitude 6.328218 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.328218 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.438685 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210736.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.438685 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.438685 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.916667 : DepthEnvelope -- Measured altitude 6.438685 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.438685 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.438685 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210737.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.438685 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.742633 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.742633 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.742633 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.742633 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210738.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.742633 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.742633 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.742633 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.162897 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.162897 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210739.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.162897 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.162897 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.162897 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.162897 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.162897 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 : AshtechGps::processRecord() - $GPGGA,210740.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.162897 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.412844 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.412844 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.412844 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.412844 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.60 1.11 12.50 3.95 3.97 0 24569.13 06:38:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210741.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.412844 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.412844 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.412844 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.615362 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.615362 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210742.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.615362 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.615362 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.615362 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.615362 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.615362 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210743.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.858683 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.66 1.12 11.91 3.86 3.98 0 9752.78 06:38:18 m : DepthEnvelope -- Measured altitude 7.858683 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.858683 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.858683 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.858683 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210744.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.858683 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.858683 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.858683 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.919995 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.919995 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210745.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.919995 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.77 1.25 13.08 3.94 3.98 0 15751.73 06:38:20 m : DepthEnvelope -- Measured altitude 7.919995 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.919995 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.919995 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.919995 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210746.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.166838 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.916667 : DepthEnvelope -- Measured altitude 8.166838 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.166838 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.166838 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.166838 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 : AshtechGps::processRecord() - $GPGGA,210747.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.166838 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.166838 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.293754 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.293754 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.293754 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210748.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.293754 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.293754 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.293754 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.293754 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.293754 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210749.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.498113 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.498113 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.498113 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.498113 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.498113 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210750.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.498113 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.498113 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.591827 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.591827 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.591827 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.60 0.92 12.50 3.95 3.98 0 24569.00 06:38:25 m : AshtechGps::processRecord() - $GPGGA,210751.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.591827 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.591827 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.591827 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.591827 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.653836 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210752.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.653836 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.653836 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.653836 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.653836 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.653836 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210753.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.653836 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.66 1.19 11.91 3.87 3.99 0 9752.64 06:38:28 m : DepthEnvelope -- Measured altitude 8.653836 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.685869 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.685869 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.685869 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 : AshtechGps::processRecord() - $GPGGA,210754.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.685869 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.685869 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.685869 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.685869 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.742755 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210755.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.742755 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.77 1.39 13.08 3.94 3.98 0 15751.64 06:38:30 m : DepthEnvelope -- Measured altitude 8.742755 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.742755 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.742755 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.742755 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210756.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.742755 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.920000 : DepthEnvelope -- Measured altitude 8.742755 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.815429 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.815429 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.815429 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210757.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.815429 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.815429 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.815429 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.815429 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.674777 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210758.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.674777 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.674777 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.674777 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.674777 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.674777 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210759.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.674777 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.686697 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.686697 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.686697 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.686697 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210800.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.686697 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.686697 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.686697 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.686697 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.866839 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: $aaq0 d- 31.60 0.89 12.30 3.95 3.98 0 24568.92 06:38:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210801.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.866839 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.866839 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.866839 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.866839 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.866839 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210802.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.866839 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.816203 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.816203 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.816203 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.816203 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210803.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.816203 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.66 1.12 11.81 3.87 3.99 0 9752.56 06:38:38 m : DepthEnvelope -- Measured altitude 8.816203 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.816203 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.109615 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.109615 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210804.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.109615 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.109615 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.109615 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.109615 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.109615 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210805.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.109615 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- 31.77 1.21 13.08 3.94 3.98 0 15751.51 06:38:40 m : DepthEnvelope -- Measured altitude 9.090773 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.090773 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.090773 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.090773 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210806.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.090773 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.920000 : DepthEnvelope -- Measured altitude 9.090773 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.090773 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.461352 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.461352 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210807.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.461352 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.461352 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.461352 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.461352 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.461352 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 : AshtechGps::processRecord() - $GPGGA,210808.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.758507 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.758507 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.758507 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.758507 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.758507 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210809.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.758507 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.758507 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.758507 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- altitude 10.024631 over abort altitude 10.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210810.00,,,,,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: $aaq0 d- 31.60 1.00 12.40 3.95 3.98 0 24568.82 06:38:45 m : AshtechGps::processRecord() - $GPGGA,210811.00,,,,,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,210812.00,,,,,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,210813.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.62 1.44 11.81 3.87 3.99 0 9752.45 06:38:48 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,210814.00,,,,,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,210815.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.66 3.37 13.08 3.94 3.98 0 15751.42 06:38:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210816.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.920000 : 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,210817.00,,,,,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,210818.00,,,,,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,210819.00,,,,,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,210820.00,,,,,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: $aaq0 d- 31.44 3.85 12.50 3.95 3.98 0 24568.65 06:38:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210821.00,,,,,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,210822.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.798238 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210823.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.51 3.11 11.81 3.87 3.99 0 9752.24 06:38:58 m : DepthEnvelope -- Measured altitude 9.798238 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.798238 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.798238 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.798238 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.798238 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210824.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.798238 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- altitude 10.079056 over abort altitude 10.000000, starting prop! : 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,210825.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 4.63 13.08 3.92 3.96 0 15751.00 06:39:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210826.00,,,,,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 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.913333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210827.00,,,,,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,210828.00,,,,,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,210829.00,,,,,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,210830.00,,,,,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: $aaq0 d- 31.48 2.96 12.40 3.94 3.96 0 24568.32 06:39:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210831.00,,,,,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,210832.00,,,,,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,210833.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.55 2.64 11.81 3.85 3.97 0 9751.96 06:39:08 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,210834.00,,,,,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,210835.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.66 3.55 13.08 3.92 3.96 0 15750.78 06:39:10 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,210836.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.903333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210837.00,,,,,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,210838.00,,,,,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,210839.00,,,,,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,210840.00,,,,,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: $aaq0 d- 31.48 2.89 12.40 3.94 3.96 0 24568.11 06:39:15 m : AshtechGps::processRecord() - $GPGGA,210841.00,,,,,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,210842.00,,,,,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,210843.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.55 2.78 11.81 3.85 3.97 0 9751.76 06:39:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210844.00,,,,,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,210845.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.69 3.55 13.08 3.92 3.96 0 15750.40 06:39:20 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,210846.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.903333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210847.00,,,,,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,210848.00,,,,,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,210849.00,,,,,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,210850.00,,,,,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: $aaq0 d- 31.48 2.96 12.30 3.94 3.96 0 24567.80 06:39:25 m : AshtechGps::processRecord() - $GPGGA,210851.00,,,,,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,210852.00,,,,,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,210853.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.51 2.67 11.81 3.85 3.97 0 9751.45 06:39:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210854.00,,,,,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,210855.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.69 3.37 13.08 3.92 3.96 0 15750.14 06:39:30 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,210856.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.903333 : 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,210857.00,,,,,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,210858.00,,,,,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,210859.00,,,,,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,210900.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.48 3.11 12.40 3.94 3.96 0 24567.56 06:39:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210901.00,,,,,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,210902.00,,,,,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,210903.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.58 3.44 11.81 3.85 3.97 0 9751.26 06:39:38 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,210904.00,,,,,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,210905.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.66 3.41 13.08 3.93 3.96 0 15749.76 06:39:40 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,210906.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.906667 : 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,210907.00,,,,,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,210908.00,,,,,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,210909.00,,,,,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,210910.00,,,,,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: $aaq0 d- 31.48 3.04 12.40 3.94 3.96 0 24567.26 06:39:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210911.00,,,,,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,210912.00,,,,,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,210913.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.55 2.53 11.81 3.85 3.97 0 9750.96 06:39:48 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,210914.00,,,,,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,210915.00,,,,,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: $c0q0 d- 31.69 3.34 12.98 3.93 3.96 0 15749.51 06:39:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210916.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.906667 : 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,210917.00,,,,,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,210918.00,,,,,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,210919.00,,,,,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,210920.00,,,,,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: $aaq0 d- 31.52 3.07 12.40 3.94 3.96 0 24567.06 06:39:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210921.00,,,,,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,210922.00,,,,,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,210923.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.55 2.53 11.81 3.85 3.97 0 9750.77 06:39:58 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,210924.00,,,,,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,210925.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.66 3.41 12.98 3.93 3.96 0 15749.15 06:40:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210926.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.906667 : 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,210927.00,,,,,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,210928.00,,,,,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,210929.00,,,,,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,210930.00,,,,,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: $aaq0 d- 31.44 2.92 12.30 3.94 3.96 0 24566.77 06:40:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210931.00,,,,,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,210932.00,,,,,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,210933.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.55 2.67 11.81 3.85 3.97 0 9750.47 06:40:08 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,210934.00,,,,,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,210935.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.69 3.48 12.98 3.93 3.96 0 15748.90 06:40:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210936.00,,,,,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 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.906667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210937.00,,,,,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,210938.00,,,,,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,210939.00,,,,,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,210940.00,,,,,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: $aaq0 d- 31.48 3.00 12.30 3.94 3.96 0 24566.57 06:40:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210941.00,,,,,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,210942.00,,,,,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,210943.00,,,,,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 : BluefinBatt Reply: $b6q0 d- 31.55 2.53 11.81 3.85 3.97 0 9750.27 06:40:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210944.00,,,,,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,210945.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.66 3.48 12.98 3.93 3.96 0 15748.53 06:40:20 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,210946.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.906667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210947.00,,,,,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,210948.00,,,,,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,210949.00,,,,,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,210950.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.44 2.96 12.30 3.94 3.96 0 24566.27 06:40:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210951.00,,,,,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,210952.00,,,,,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,210953.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.55 2.78 11.81 3.85 3.97 0 9749.99 06:40:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210954.00,,,,,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,210955.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.69 3.37 12.98 3.93 3.96 0 15748.29 06:40:30 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,210956.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.906667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,210957.00,,,,,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,210958.00,,,,,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,210959.00,,,,,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,211000.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.44 3.22 12.30 3.94 3.96 0 24566.07 06:40:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211001.00,,,,,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,211002.00,,,,,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,211003.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.55 2.42 11.81 3.85 3.97 0 9749.77 06:40:38 m : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211004.00,,,,,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,211005.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.66 3.16 12.98 3.92 3.96 0 15747.92 06:40:40 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,211006.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.903333 : 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,211007.00,,,,,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,211008.00,,,,,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,211009.00,,,,,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,211010.00,,,,,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: $aaq0 d- 31.48 3.59 12.40 3.94 3.96 0 24565.78 06:40:45 m : AshtechGps::processRecord() - $GPGGA,211011.00,,,,,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,211012.00,,,,,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,211013.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.55 2.53 11.81 3.85 3.97 0 9749.47 06:40:48 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,211014.00,,,,,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,211015.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.66 3.23 13.08 3.92 3.96 0 15747.67 06:40:50 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,211016.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.903333 : 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,211017.00,,,,,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,211018.00,,,,,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,211019.00,,,,,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,211020.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.52 3.11 12.30 3.94 3.96 0 24565.58 06:40:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211021.00,,,,,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,211022.00,,,,,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,211023.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.51 2.89 11.81 3.85 3.97 0 9749.28 06:40:58 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,211024.00,,,,,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,211025.00,,,,,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 : BluefinBatt Reply: $c0q0 d- 31.66 3.34 12.98 3.92 3.96 0 15747.26 06:41:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211026.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.903333 : 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,211027.00,,,,,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,211028.00,,,,,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,211029.00,,,,,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,211030.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : 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: $aaq0 d- 31.44 3.26 12.30 3.93 3.96 0 24565.28 06:41:05 m : AshtechGps::processRecord() - $GPGGA,211031.00,,,,,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,211032.00,,,,,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,211033.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.55 2.57 11.81 3.85 3.97 0 9748.98 06:41:08 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,211034.00,,,,,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,211035.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.66 3.52 12.98 3.92 3.96 0 15747.01 06:41:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211036.00,,,,,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 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.900000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211037.00,,,,,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,211038.00,,,,,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,211039.00,,,,,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,211040.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.44 3.41 12.30 3.93 3.96 0 24565.07 06:41:15 m : AshtechGps::processRecord() - $GPGGA,211041.00,,,,,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,211042.00,,,,,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,211043.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.51 2.89 11.81 3.85 3.97 0 9748.79 06:41:18 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,211044.00,,,,,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,211045.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.66 3.48 12.98 3.92 3.95 0 15746.62 06:41:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211046.00,,,,,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 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.900000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211047.00,,,,,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,211048.00,,,,,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,211049.00,,,,,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,211050.00,,,,,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: $aaq0 d- 31.41 4.12 12.30 3.93 3.96 0 24564.75 06:41:25 m : AshtechGps::processRecord() - $GPGGA,211051.00,,,,,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,211052.00,,,,,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,211053.00,,,,,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- 31.51 3.51 11.81 3.85 3.97 0 9748.42 06:41:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211054.00,,,,,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,211055.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 3.73 12.98 3.92 3.95 0 15746.37 06:41:30 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,211056.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.900000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211057.00,,,,,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,211058.00,,,,,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,211059.00,,,,,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,211100.00,,,,,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: $aaq0 d- 31.44 3.33 12.30 3.93 3.96 0 24564.53 06:41:35 m : AshtechGps::processRecord() - $GPGGA,211101.00,,,,,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,211102.00,,,,,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,211103.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.51 2.60 11.81 3.85 3.97 0 9748.22 06:41:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211104.00,,,,,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,211105.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 3.66 12.98 3.92 3.96 0 15745.99 06:41:40 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,211106.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.900000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211107.00,,,,,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,211108.00,,,,,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,211109.00,,,,,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,211110.00,,,,,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: $aaq0 d- 31.37 4.97 12.30 3.93 3.96 0 24564.18 06:41:45 m : AshtechGps::processRecord() - $GPGGA,211111.00,,,,,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,211112.00,,,,,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,211113.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.51 2.75 11.81 3.85 3.97 0 9747.92 06:41:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211114.00,,,,,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,211115.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 3.73 12.98 3.92 3.96 0 15745.73 06:41:50 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,211116.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.900000 : 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,211117.00,,,,,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,211118.00,,,,,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,211119.00,,,,,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,211120.00,,,,,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: $aaq0 d- 31.44 3.33 12.40 3.93 3.96 0 24563.96 06:41:55 m : AshtechGps::processRecord() - $GPGGA,211121.00,,,,,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,211122.00,,,,,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,211123.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.43 3.07 11.81 3.85 3.97 0 9747.69 06:41:58 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,211124.00,,,,,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,211125.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 3.55 13.08 3.92 3.96 0 15745.28 06:42:00 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,211126.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.900000 : 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,211127.00,,,,,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,211128.00,,,,,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,211129.00,,,,,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,211130.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.37 4.82 12.30 3.93 3.96 0 24563.62 06:42:05 m : AshtechGps::processRecord() - $GPGGA,211131.00,,,,,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,211132.00,,,,,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,211133.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.47 3.15 11.81 3.85 3.97 0 9747.36 06:42:08 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,211134.00,,,,,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,211135.00,,,,,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: $c0q0 d- 31.62 3.91 13.08 3.92 3.96 0 15744.98 06:42:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211136.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.900000 : 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,211137.00,,,,,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,211138.00,,,,,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,211139.00,,,,,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,211140.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.48 3.30 12.40 3.93 3.96 0 24563.38 06:42:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211141.00,,,,,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,211142.00,,,,,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,211143.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.51 2.64 11.81 3.85 3.97 0 9747.14 06:42:18 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,211144.00,,,,,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,211145.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 3.80 13.08 3.92 3.96 0 15744.59 06:42:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211146.00,,,,,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 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.900000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211147.00,,,,,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,211148.00,,,,,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,211149.00,,,,,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,211150.00,,,,,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: $aaq0 d- 31.41 3.52 12.30 3.93 3.96 0 24563.06 06:42:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211151.00,,,,,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,211152.00,,,,,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,211153.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.51 2.60 11.81 3.85 3.97 0 9746.83 06:42:28 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,211154.00,,,,,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,211155.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.66 3.62 13.08 3.92 3.96 0 15744.31 06:42:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211156.00,,,,,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 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.900000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211157.00,,,,,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,211158.00,,,,,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,211159.00,,,,,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,211200.00,,,,,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: $aaq0 d- 31.44 3.33 12.40 3.93 3.96 0 24562.82 06:42:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211201.00,,,,,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,211202.00,,,,,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,211203.00,,,,,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 : BluefinBatt Reply: $b6q0 d- 31.51 2.60 11.81 3.85 3.97 0 9746.62 06:42:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211204.00,,,,,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,211205.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 3.59 13.08 3.92 3.96 0 15743.91 06:42:40 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,211206.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.900000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211207.00,,,,,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,211208.00,,,,,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,211209.00,,,,,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,211210.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.41 3.48 12.40 3.93 3.96 0 24562.50 06:42:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211211.00,,,,,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,211212.00,,,,,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,211213.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.51 2.71 11.81 3.85 3.97 0 9746.32 06:42:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211214.00,,,,,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,211215.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 3.80 13.08 3.92 3.96 0 15743.64 06:42:50 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,211216.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.900000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211217.00,,,,,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,211218.00,,,,,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,211219.00,,,,,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,211220.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.44 3.37 12.30 3.93 3.96 0 24562.28 06:42:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211221.00,,,,,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,211222.00,,,,,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,211223.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.51 2.60 11.81 3.85 3.97 0 9746.11 06:42:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211224.00,,,,,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,211225.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 3.44 13.08 3.92 3.96 0 15743.24 06:43:00 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,211226.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.900000 : 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,211227.00,,,,,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,211228.00,,,,,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,211229.00,,,,,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,211230.00,,,,,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: $aaq0 d- 31.44 3.33 12.40 3.93 3.96 0 24561.96 06:43:05 m : AshtechGps::processRecord() - $GPGGA,211231.00,,,,,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,211232.00,,,,,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,211233.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.51 2.60 11.81 3.85 3.97 0 9745.81 06:43:08 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,211234.00,,,,,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,211235.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 3.66 13.08 3.92 3.96 0 15742.98 06:43:10 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,211236.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.900000 : 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,211237.00,,,,,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,211238.00,,,,,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,211239.00,,,,,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,211240.00,,,,,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: $aaq0 d- 31.44 3.44 12.40 3.93 3.96 0 24561.74 06:43:15 m : AshtechGps::processRecord() - $GPGGA,211241.00,,,,,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,211242.00,,,,,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,211243.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.51 2.53 11.81 3.85 3.97 0 9745.61 06:43:18 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,211244.00,,,,,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,211245.00,,,,,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 : BluefinBatt Reply: $c0q0 d- 31.62 3.48 13.08 3.92 3.96 0 15742.60 06:43:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211246.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.900000 : 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,211247.00,,,,,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,211248.00,,,,,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,211249.00,,,,,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,211250.00,,,,,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: $aaq0 d- 31.44 3.00 12.40 3.93 3.96 0 24561.43 06:43:25 m : AshtechGps::processRecord() - $GPGGA,211251.00,,,,,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,211252.00,,,,,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,211253.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.51 2.64 11.81 3.85 3.97 0 9745.29 06:43:28 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,211254.00,,,,,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,211255.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 3.66 13.08 3.92 3.96 0 15742.33 06:43:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211256.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.900000 : 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,211257.00,,,,,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,211258.00,,,,,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,211259.00,,,,,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,211300.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.41 3.33 12.40 3.93 3.96 0 24561.21 06:43:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211301.00,,,,,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,211302.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.573921 under allowable altitude 10.000000. Stopping! : resetting depth trajectory : DepthEnvelope -- Measured altitude 9.573921 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.573921 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211303.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.573921 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.47 2.93 11.81 3.85 3.97 0 9745.07 06:43:38 m : DepthEnvelope -- Measured altitude 9.573921 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.573921 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.573921 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.912416 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211304.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.912416 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.912416 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.912416 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.912416 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.912416 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211305.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.912416 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.62 3.44 13.08 3.92 3.96 0 15741.95 06:43:40 m : DepthEnvelope -- Measured altitude 8.912416 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.441685 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.441685 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.441685 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211306.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.441685 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 3.850000, mean min cell voltage 3.900000 : DepthEnvelope -- Measured altitude 8.441685 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.441685 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.441685 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.926512 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211307.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.926512 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.926512 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.926512 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.926512 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.926512 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211308.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.926512 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.197948 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.197948 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.197948 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.197948 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 : AshtechGps::processRecord() - $GPGGA,211309.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.197948 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.197948 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.197948 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.197948 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.480733 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211310.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.480733 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.480733 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.480733 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.480733 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.480733 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.56 0.96 12.40 3.93 3.96 0 24560.96 06:43:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211311.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.480733 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.842612 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.842612 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.842612 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.842612 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211312.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.842612 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.842612 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.842612 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.515265 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.515265 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211313.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.515265 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- 31.62 1.12 11.81 3.85 3.97 0 9744.89 06:43:48 m : DepthEnvelope -- Measured altitude 5.515265 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.515265 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.515265 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.515265 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211314.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.515265 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.260096 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.260096 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.260096 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.260096 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211315.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.260096 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.73 1.57 13.08 3.92 3.96 0 15741.85 06:43:50 m : DepthEnvelope -- Measured altitude 5.260096 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.260096 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.278702 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.278702 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 : AshtechGps::processRecord() - $GPGGA,211316.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.278702 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.900000 : DepthEnvelope -- Measured altitude 5.278702 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.278702 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.278702 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.278702 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211317.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.278702 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.447319 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.447319 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.447319 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.447319 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211318.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.447319 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.447319 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.447319 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.620040 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.620040 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211319.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.620040 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.620040 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.620040 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.620040 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.620040 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211320.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.891905 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.891905 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.891905 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.891905 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.891905 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.52 1.41 12.50 3.93 3.96 0 24560.90 06:43:55 m : AshtechGps::processRecord() - $GPGGA,211321.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.891905 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.891905 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.891905 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.994393 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.994393 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211322.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.994393 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.994393 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.994393 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.994393 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.994393 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 : AshtechGps::processRecord() - $GPGGA,211323.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.245188 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.62 1.19 11.81 3.85 3.97 0 9744.81 06:43:58 m : DepthEnvelope -- Measured altitude 6.245188 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.245188 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.245188 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.245188 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211324.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.245188 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.245188 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.421661 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.421661 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.421661 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211325.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.421661 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.421661 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.73 1.25 13.08 3.94 3.97 0 15741.73 06:44:00 m : DepthEnvelope -- Measured altitude 6.421661 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.421661 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.421661 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211326.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.538806 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.538806 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.906667 : DepthEnvelope -- Measured altitude 6.538806 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.538806 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.538806 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211327.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.538806 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.538806 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.799690 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.799690 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.799690 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211328.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.799690 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.799690 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.799690 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.799690 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.988929 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211329.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.988929 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.988929 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.988929 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.988929 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.988929 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 : AshtechGps::processRecord() - $GPGGA,211330.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.988929 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.988929 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.187170 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.187170 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.187170 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.56 0.92 12.40 3.94 3.97 0 24560.79 06:44:05 m : AshtechGps::processRecord() - $GPGGA,211331.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.187170 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.187170 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.187170 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.187170 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.202711 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Hydroscat::readRecord() ensemble checksum incorrect : AshtechGps::processRecord() - $GPGGA,211332.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.202711 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.202711 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.202711 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.202711 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.202711 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211333.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.202711 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.62 1.44 11.81 3.87 3.98 0 9744.70 06:44:08 m : DepthEnvelope -- Measured altitude 7.263377 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.263377 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.263377 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.263377 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211334.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.263377 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.263377 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.263377 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.263377 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.406519 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211335.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.406519 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.406519 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.77 1.50 13.08 3.94 3.97 0 15741.64 06:44:10 m : DepthEnvelope -- Measured altitude 7.406519 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.406519 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.406519 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211336.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.406519 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.349572 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.916667 : DepthEnvelope -- Measured altitude 7.349572 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.349572 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.349572 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 : AshtechGps::processRecord() - $GPGGA,211337.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.349572 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.349572 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.349572 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.148967 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.148967 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211338.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.148967 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.148967 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.148967 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.148967 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.148967 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211339.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.148967 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.137640 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.137640 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.137640 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.137640 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211340.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.137640 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.137640 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.137640 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.181344 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.181344 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.52 1.00 12.50 3.94 3.97 0 24560.73 06:44:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211341.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.181344 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.181344 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.181344 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.181344 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.181344 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211342.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.181344 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.179196 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.179196 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.179196 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.179196 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211343.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.62 1.01 11.81 3.87 3.98 0 9744.63 06:44:18 m : DepthEnvelope -- Measured altitude 7.179196 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.179196 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.179196 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.276200 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.276200 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 : AshtechGps::processRecord() - $GPGGA,211344.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.276200 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.276200 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.276200 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.276200 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.276200 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211345.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.451657 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.73 1.25 13.08 3.94 3.97 0 15741.51 06:44:20 m : DepthEnvelope -- Measured altitude 7.451657 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.451657 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.451657 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.451657 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211346.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.451657 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.916667 : DepthEnvelope -- Measured altitude 7.451657 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.451657 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.760536 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.760536 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211347.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.760536 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.760536 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.760536 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.760536 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.760536 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211348.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.968971 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.968971 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.968971 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.968971 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.968971 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211349.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.968971 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.968971 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.396018 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.396018 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.396018 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211350.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.396018 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.396018 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.396018 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.396018 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.396018 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 : BluefinBatt Reply: $aaq0 d- 31.60 0.92 12.40 3.95 3.97 0 24560.64 06:44:25 m : AshtechGps::processRecord() - $GPGGA,211351.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.586289 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.586289 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.586289 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.586289 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.586289 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211352.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.586289 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.586289 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.770061 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.770061 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.770061 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211353.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.770061 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.62 1.12 11.81 3.87 3.98 0 9744.51 06:44:28 m : DepthEnvelope -- Measured altitude 8.770061 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.770061 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.770061 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.990075 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211354.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.990075 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.990075 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.990075 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.990075 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.990075 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211355.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.990075 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- 31.77 1.21 12.98 3.94 3.97 0 15741.42 06:44:30 m : DepthEnvelope -- Measured altitude 8.990075 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.130767 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.130767 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.130767 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211356.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.130767 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.920000 : DepthEnvelope -- Measured altitude 9.130767 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.130767 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.130767 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.435739 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211357.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.435739 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.435739 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.435739 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.435739 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.435739 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 : AshtechGps::processRecord() - $GPGGA,211358.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.435739 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.451089 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.451089 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.451089 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.451089 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211359.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.451089 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.451089 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.451089 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.451089 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.584825 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211400.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.584825 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.584825 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.584825 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.584825 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.584825 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.60 0.92 12.40 3.95 3.97 0 24560.57 06:44:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211401.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.584825 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.896399 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.896399 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.896399 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.896399 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211402.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.896399 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.896399 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.896399 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.977324 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.977324 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211403.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.977324 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.66 1.12 11.81 3.87 3.98 0 9744.42 06:44:38 m : DepthEnvelope -- Measured altitude 9.977324 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.977324 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.977324 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.977324 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211404.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.977324 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- altitude 10.333323 over abort altitude 10.000000, starting prop! : 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,211405.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.77 1.25 12.98 3.94 3.98 0 15741.29 06:44:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211406.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.920000 : 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,211407.00,,,,,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,211408.00,,,,,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,211409.00,,,,,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,211410.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.44 3.00 12.40 3.95 3.97 0 24560.43 06:44:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211411.00,,,,,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,211412.00,,,,,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,211413.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.51 2.93 11.81 3.87 3.99 0 9744.22 06:44:48 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,211414.00,,,,,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,211415.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 3.98 12.98 3.94 3.98 0 15741.09 06:44:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211416.00,,,,,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 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.920000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211417.00,,,,,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,211418.00,,,,,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,211419.00,,,,,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,211420.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.41 4.12 12.30 3.95 3.97 0 24560.16 06:44:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211421.00,,,,,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,211422.00,,,,,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,211423.00,,,,,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 : BluefinBatt Reply: $b6q0 d- 31.47 3.15 11.81 3.87 3.99 0 9744.01 06:44:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211424.00,,,,,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,211425.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 3.77 13.08 3.92 3.96 0 15740.66 06:45:00 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,211426.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.913333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211427.00,,,,,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,211428.00,,,,,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,211429.00,,,,,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,211430.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.48 3.33 12.30 3.93 3.96 0 24559.78 06:45:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211431.00,,,,,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,211432.00,,,,,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,211433.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.51 3.07 11.81 3.85 3.97 0 9743.72 06:45:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211434.00,,,,,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,211435.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 3.34 12.98 3.92 3.96 0 15740.39 06:45:10 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,211436.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.900000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211437.00,,,,,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,211438.00,,,,,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,211439.00,,,,,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,211440.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.48 3.41 12.30 3.93 3.96 0 24559.54 06:45:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211441.00,,,,,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,211442.00,,,,,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,211443.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.51 3.00 11.81 3.85 3.97 0 9743.54 06:45:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211444.00,,,,,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,211445.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 3.19 13.08 3.92 3.96 0 15740.02 06:45:20 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,211446.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.900000 : 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,211447.00,,,,,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,211448.00,,,,,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,211449.00,,,,,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,211450.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.44 3.26 12.40 3.93 3.96 0 24559.21 06:45:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211451.00,,,,,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,211452.00,,,,,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,211453.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.51 2.67 11.81 3.85 3.97 0 9743.25 06:45:28 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,211454.00,,,,,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,211455.00,,,,,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: $c0q0 d- 31.69 3.16 12.98 3.92 3.96 0 15739.77 06:45:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211456.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.900000 : 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,211457.00,,,,,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,211458.00,,,,,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,211459.00,,,,,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,211500.00,,,,,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: $aaq0 d- 31.44 3.22 12.40 3.93 3.96 0 24558.99 06:45:35 m : AshtechGps::processRecord() - $GPGGA,211501.00,,,,,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,211502.00,,,,,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,211503.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.51 2.67 11.81 3.85 3.97 0 9743.08 06:45:38 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,211504.00,,,,,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,211505.00,,,,,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: $c0q0 d- 31.62 3.41 12.98 3.92 3.96 0 15739.36 06:45:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211506.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.900000 : 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,211507.00,,,,,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,211508.00,,,,,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,211509.00,,,,,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,211510.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.44 3.44 12.30 3.93 3.96 0 24558.69 06:45:45 m : AshtechGps::processRecord() - $GPGGA,211511.00,,,,,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,211512.00,,,,,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,211513.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.51 2.57 11.81 3.85 3.97 0 9742.81 06:45:48 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,211514.00,,,,,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,211515.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 3.62 12.98 3.92 3.96 0 15739.12 06:45:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211516.00,,,,,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 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.900000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211517.00,,,,,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,211518.00,,,,,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,211519.00,,,,,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,211520.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.44 3.15 12.30 3.93 3.96 0 24558.49 06:45:55 m : AshtechGps::processRecord() - $GPGGA,211521.00,,,,,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,211522.00,,,,,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,211523.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.51 2.60 11.81 3.85 3.97 0 9742.63 06:45:58 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.50 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211524.00,,,,,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,211525.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.66 3.16 12.89 3.92 3.96 0 15738.77 06:46:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211526.00,,,,,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 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.900000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211527.00,,,,,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,211528.00,,,,,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,211529.00,,,,,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,211530.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.44 3.22 12.30 3.93 3.96 0 24558.15 06:46:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211531.00,,,,,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,211532.00,,,,,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,211533.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.51 2.60 11.81 3.85 3.97 0 9742.38 06:46:08 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,211534.00,,,,,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,211535.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.66 3.12 12.89 3.92 3.96 0 15738.52 06:46:10 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,211536.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.900000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211537.00,,,,,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,211538.00,,,,,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,211539.00,,,,,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,211540.00,,,,,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: $aaq0 d- 31.44 3.67 12.30 3.93 3.96 0 24557.93 06:46:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211541.00,,,,,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,211542.00,,,,,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,211543.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.51 2.60 11.81 3.85 3.97 0 9742.20 06:46:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211544.00,,,,,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,211545.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 3.48 12.89 3.92 3.95 0 15738.15 06:46:20 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,211546.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.900000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211547.00,,,,,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,211548.00,,,,,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,211549.00,,,,,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,211550.00,,,,,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: $aaq0 d- 31.44 3.44 12.30 3.93 3.96 0 24557.57 06:46:25 m : AshtechGps::processRecord() - $GPGGA,211551.00,,,,,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,211552.00,,,,,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,211553.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.47 2.71 11.81 3.85 3.97 0 9741.93 06:46:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211554.00,,,,,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,211555.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 3.41 12.98 3.92 3.95 0 15737.90 06:46:30 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,211556.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.900000 : 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,211557.00,,,,,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,211558.00,,,,,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,211559.00,,,,,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,211600.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.44 3.41 12.30 3.93 3.96 0 24557.34 06:46:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211601.00,,,,,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,211602.00,,,,,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,211603.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.47 2.78 11.81 3.85 3.97 0 9741.74 06:46:38 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,211604.00,,,,,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,211605.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 3.41 12.89 3.92 3.96 0 15737.50 06:46:40 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,211606.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.900000 : 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,211607.00,,,,,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,211608.00,,,,,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,211609.00,,,,,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,211610.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.44 3.33 12.30 3.93 3.96 0 24557.01 06:46:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211611.00,,,,,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,211612.00,,,,,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,211613.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.47 2.71 11.81 3.85 3.97 0 9741.48 06:46:48 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,211614.00,,,,,0,00,,,M,,M,,*49 : 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,211615.00,,,,,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: $c0q0 d- 31.62 3.55 12.89 3.92 3.96 0 15737.21 06:46:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211616.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.900000 : 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,211617.00,,,,,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,211618.00,,,,,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,211619.00,,,,,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,211620.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.37 3.85 12.30 3.93 3.96 0 24556.72 06:46:55 m : AshtechGps::processRecord() - $GPGGA,211621.00,,,,,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,211622.00,,,,,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,211623.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.47 2.96 11.81 3.85 3.97 0 9741.31 06:46:58 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,211624.00,,,,,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,211625.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 3.44 12.89 3.92 3.96 0 15736.83 06:47:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211626.00,,,,,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 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.900000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211627.00,,,,,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,211628.00,,,,,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,211629.00,,,,,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,211630.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.44 3.63 12.20 3.93 3.96 0 24556.36 06:47:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211631.00,,,,,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,211632.00,,,,,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,211633.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.47 3.51 11.81 3.85 3.97 0 9741.03 06:47:08 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,211634.00,,,,,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,211635.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 3.66 12.98 3.92 3.96 0 15736.53 06:47:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211636.00,,,,,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 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.900000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211637.00,,,,,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,211638.00,,,,,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,211639.00,,,,,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,211640.00,,,,,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: $aaq0 d- 31.44 3.71 12.20 3.93 3.96 0 24556.08 06:47:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211641.00,,,,,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,211642.00,,,,,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,211643.00,,,,,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 : BluefinBatt Reply: $b6q0 d- 31.47 3.04 11.81 3.85 3.97 0 9740.84 06:47:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211644.00,,,,,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,211645.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 3.44 12.98 3.92 3.96 0 15736.12 06:47:20 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,211646.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.900000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211647.00,,,,,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,211648.00,,,,,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,211649.00,,,,,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,211650.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.44 3.37 12.30 3.93 3.96 0 24555.73 06:47:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211651.00,,,,,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,211652.00,,,,,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,211653.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.47 3.07 11.81 3.85 3.96 0 9740.52 06:47:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211654.00,,,,,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,211655.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 3.73 12.98 3.92 3.96 0 15735.85 06:47:30 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,211656.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.900000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211657.00,,,,,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,211658.00,,,,,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,211659.00,,,,,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,211700.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.41 3.52 12.30 3.93 3.96 0 24555.46 06:47:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211701.00,,,,,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,211702.00,,,,,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,211703.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.47 2.75 11.81 3.85 3.96 0 9740.32 06:47:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211704.00,,,,,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,211705.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 3.59 13.08 3.92 3.96 0 15735.43 06:47:40 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,211706.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.900000 : 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,211707.00,,,,,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,211708.00,,,,,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,211709.00,,,,,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,211710.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.33 4.23 12.30 3.93 3.96 0 24555.08 06:47:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211711.00,,,,,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,211712.00,,,,,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,211713.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.47 2.89 11.81 3.85 3.96 0 9740.03 06:47:48 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,211714.00,,,,,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,211715.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 3.41 13.08 3.92 3.96 0 15735.17 06:47:50 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,211716.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.900000 : 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,211717.00,,,,,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,211718.00,,,,,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,211719.00,,,,,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,211720.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.41 3.41 12.30 3.93 3.96 0 24554.85 06:47:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211721.00,,,,,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,211722.00,,,,,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,211723.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.47 2.86 11.81 3.85 3.96 0 9739.84 06:47:58 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,211724.00,,,,,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,211725.00,,,,,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: $c0q0 d- 31.62 3.55 13.08 3.92 3.96 0 15734.78 06:48:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211726.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.900000 : 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,211727.00,,,,,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,211728.00,,,,,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,211729.00,,,,,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,211730.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.44 3.59 12.30 3.93 3.96 0 24554.42 06:48:05 m : AshtechGps::processRecord() - $GPGGA,211731.00,,,,,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,211732.00,,,,,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,211733.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.43 3.04 11.81 3.85 3.97 0 9739.57 06:48:08 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,211734.00,,,,,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,211735.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 3.52 13.08 3.92 3.96 0 15734.48 06:48:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211736.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.900000 : 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,211737.00,,,,,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,211738.00,,,,,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,211739.00,,,,,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,211740.00,,,,,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: $aaq0 d- 31.37 4.30 12.30 3.93 3.96 0 24554.18 06:48:15 m : AshtechGps::processRecord() - $GPGGA,211741.00,,,,,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,211742.00,,,,,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,211743.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.51 2.67 11.81 3.85 3.97 0 9739.39 06:48:18 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,211744.00,,,,,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,211745.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 3.26 13.08 3.92 3.95 0 15734.09 06:48:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211746.00,,,,,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 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.900000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211747.00,,,,,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,211748.00,,,,,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,211749.00,,,,,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,211750.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.37 3.71 12.40 3.93 3.96 0 24553.82 06:48:25 m : AshtechGps::processRecord() - $GPGGA,211751.00,,,,,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,211752.00,,,,,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,211753.00,,,,,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 : BluefinBatt Reply: $b6q0 d- 31.47 2.96 11.81 3.85 3.97 0 9739.10 06:48:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211754.00,,,,,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,211755.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 3.52 13.08 3.92 3.95 0 15733.83 06:48:30 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,211756.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.900000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211757.00,,,,,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,211758.00,,,,,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,211759.00,,,,,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,211800.00,,,,,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: $aaq0 d- 31.41 3.63 12.40 3.93 3.96 0 24553.59 06:48:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211801.00,,,,,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,211802.00,,,,,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,211803.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.47 2.86 11.81 3.85 3.97 0 9738.92 06:48:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211804.00,,,,,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,211805.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 3.30 13.08 3.92 3.96 0 15733.44 06:48:40 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,211806.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.900000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211807.00,,,,,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,211808.00,,,,,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,211809.00,,,,,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,211810.00,,,,,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: $aaq0 d- 31.41 3.44 12.40 3.92 3.95 0 24553.25 06:48:45 m : AshtechGps::processRecord() - $GPGGA,211811.00,,,,,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,211812.00,,,,,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,211813.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.47 2.86 11.81 3.85 3.96 0 9738.65 06:48:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211814.00,,,,,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,211815.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 3.37 13.08 3.92 3.96 0 15733.17 06:48:50 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,211816.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.896667 : 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,211817.00,,,,,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,211818.00,,,,,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,211819.00,,,,,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,211820.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.44 3.56 12.30 3.92 3.95 0 24553.02 06:48:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211821.00,,,,,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,211822.00,,,,,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,211823.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.43 3.04 11.81 3.85 3.96 0 9738.46 06:48:58 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,211824.00,,,,,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,211825.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 3.41 13.08 3.92 3.95 0 15732.76 06:49:00 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,211826.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.896667 : 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,211827.00,,,,,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,211828.00,,,,,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,211829.00,,,,,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,211830.00,,,,,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: $aaq0 d- 31.41 3.37 12.40 3.93 3.96 0 24552.68 06:49:05 m : AshtechGps::processRecord() - $GPGGA,211831.00,,,,,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,211832.00,,,,,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,211833.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.47 2.86 11.81 3.85 3.96 0 9738.16 06:49:08 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,211834.00,,,,,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,211835.00,,,,,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 : BluefinBatt Reply: $c0q0 d- 31.58 3.84 13.08 3.92 3.95 0 15732.50 06:49:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211836.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.900000 : 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,211837.00,,,,,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,211838.00,,,,,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,211839.00,,,,,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 : DepthEnvelope -- Measured altitude 9.981388 under allowable altitude 10.000000. Stopping! : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211840.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.981388 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.981388 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.981388 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.981388 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.981388 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.44 3.33 12.40 3.93 3.96 0 24552.45 06:49:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211841.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.981388 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.981388 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.293947 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.293947 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.293947 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211842.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.293947 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.293947 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.293947 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.293947 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.806571 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211843.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.55 1.55 11.81 3.85 3.96 0 9737.97 06:49:18 m : DepthEnvelope -- Measured altitude 8.806571 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.806571 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.806571 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.806571 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.806571 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211844.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.806571 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.255216 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.255216 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.255216 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.255216 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 : AshtechGps::processRecord() - $GPGGA,211845.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.255216 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.69 2.22 13.08 3.93 3.97 0 15732.19 06:49:20 m : DepthEnvelope -- Measured altitude 8.255216 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.255216 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.255216 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.606270 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211846.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.606270 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.903333 : DepthEnvelope -- Measured altitude 7.606270 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.606270 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.606270 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.606270 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211847.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.606270 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.911448 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.911448 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.911448 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.911448 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211848.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.911448 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.911448 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.911448 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.334046 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.334046 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211849.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.334046 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.334046 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.334046 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.334046 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.334046 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211850.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.334046 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.931195 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.931195 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.931195 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.931195 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.48 1.41 12.30 3.94 3.97 0 24552.24 06:49:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211851.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.931195 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.931195 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.931195 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.779062 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.779062 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 : AshtechGps::processRecord() - $GPGGA,211852.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.779062 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.779062 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.779062 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.779062 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.779062 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211853.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.786640 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.58 1.23 11.81 3.86 3.98 0 9737.83 06:49:28 m : DepthEnvelope -- Measured altitude 5.786640 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.786640 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.786640 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.786640 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211854.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.786640 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.786640 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.786640 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.935465 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.935465 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211855.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.935465 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.935465 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.73 1.39 13.08 3.93 3.97 0 15732.08 06:49:30 m : DepthEnvelope -- Measured altitude 5.935465 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.935465 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.935465 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211856.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.200746 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.200746 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.910000 : DepthEnvelope -- Measured altitude 6.200746 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.200746 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.200746 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211857.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.200746 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.200746 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.389259 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.389259 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.389259 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211858.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.389259 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.389259 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.389259 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.389259 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.389259 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 : AshtechGps::processRecord() - $GPGGA,211859.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.698998 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.698998 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.698998 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.698998 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.698998 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211900.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.698998 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.698998 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.862344 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.862344 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.862344 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.52 0.96 12.40 3.94 3.97 0 24552.14 06:49:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211901.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.862344 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.862344 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.862344 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.862344 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.006705 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211902.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.006705 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.006705 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.006705 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.006705 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.006705 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211903.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.006705 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- 31.62 1.08 11.81 3.86 3.98 0 9737.74 06:49:38 m : DepthEnvelope -- Measured altitude 7.006705 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.091983 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.091983 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.091983 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211904.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.091983 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.091983 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.091983 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.091983 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.218557 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211905.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.218557 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.73 1.50 13.08 3.93 3.97 0 15731.90 06:49:40 m : DepthEnvelope -- Measured altitude 7.218557 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.218557 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.218557 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.218557 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 : AshtechGps::processRecord() - $GPGGA,211906.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.218557 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.910000 : DepthEnvelope -- Measured altitude 7.526643 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.526643 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.526643 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.526643 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211907.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.526643 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.526643 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.526643 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.526643 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.701693 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211908.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.701693 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.701693 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.701693 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.701693 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.701693 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211909.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.701693 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.871025 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.871025 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.871025 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.871025 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211910.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.871025 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.871025 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.871025 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.871025 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.990628 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.52 1.11 12.40 3.94 3.97 0 24552.00 06:49:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211911.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.990628 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.990628 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.990628 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.990628 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.990628 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211912.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.990628 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.802844 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.802844 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.802844 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.802844 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 : AshtechGps::processRecord() - $GPGGA,211913.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.802844 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.58 1.33 11.81 3.86 3.98 0 9737.60 06:49:48 m : DepthEnvelope -- Measured altitude 7.802844 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.802844 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.778425 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.778425 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211914.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.778425 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.778425 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.778425 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.778425 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.778425 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211915.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.778425 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.73 1.25 13.08 3.93 3.97 0 15731.80 06:49:50 m : DepthEnvelope -- Measured altitude 7.682122 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.682122 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.682122 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.682122 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211916.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.682122 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.910000 : DepthEnvelope -- Measured altitude 7.682122 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.682122 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.664440 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.664440 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211917.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.664440 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.664440 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.664440 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.664440 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.664440 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211918.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.781027 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.781027 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.781027 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.781027 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.781027 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211919.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.781027 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.781027 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.781027 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.828705 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.828705 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 : AshtechGps::processRecord() - $GPGGA,211920.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.828705 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.828705 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.828705 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.828705 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.828705 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.52 0.96 12.40 3.94 3.97 0 24551.92 06:49:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211921.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.965460 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.965460 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.965460 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.965460 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.965460 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211922.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.965460 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.965460 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.173814 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.173814 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.173814 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211923.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.173814 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.62 1.08 11.81 3.86 3.98 0 9737.52 06:49:58 m : DepthEnvelope -- Measured altitude 8.173814 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.173814 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.173814 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.173814 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211924.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.339043 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.339043 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.339043 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.339043 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.339043 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211925.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.339043 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.73 1.65 13.08 3.94 3.97 0 15731.66 06:50:00 m : DepthEnvelope -- Measured altitude 8.339043 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.633099 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.633099 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.633099 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211926.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.633099 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.913333 : DepthEnvelope -- Measured altitude 8.633099 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.633099 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.633099 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.929640 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 : AshtechGps::processRecord() - $GPGGA,211927.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.929640 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.929640 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.929640 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.929640 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.929640 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211928.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.929640 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.929640 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.129027 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.129027 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.129027 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211929.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.129027 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.129027 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.129027 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.129027 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.297921 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211930.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.297921 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.297921 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.297921 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.297921 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.297921 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.52 0.81 12.30 3.94 3.97 0 24551.83 06:50:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211931.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.297921 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.368248 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.368248 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.368248 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.368248 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211932.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.368248 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.368248 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.368248 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.368248 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.658074 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211933.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.658074 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.62 1.08 11.81 3.87 3.98 0 9737.41 06:50:08 m : DepthEnvelope -- Measured altitude 9.658074 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.658074 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.658074 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.658074 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 : AshtechGps::processRecord() - $GPGGA,211934.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.658074 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- altitude 10.073283 over abort altitude 10.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211935.00,,,,,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 : BluefinBatt Reply: $c0q0 d- 31.73 1.29 12.98 3.94 3.97 0 15731.58 06:50:10 m : DepthEnvelope -- Measured altitude 9.877706 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.877706 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211936.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.877706 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.877706 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.916667 : DepthEnvelope -- Measured altitude 9.877706 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.877706 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.877706 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211937.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.877706 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- altitude 10.051562 over abort altitude 10.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211938.00,,,,,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,211939.00,,,,,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,211940.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.52 1.41 12.40 3.94 3.97 0 24551.76 06:50:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211941.00,,,,,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,211942.00,,,,,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,211943.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.55 2.42 11.81 3.87 3.98 0 9737.31 06:50:18 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,211944.00,,,,,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,211945.00,,,,,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 : BluefinBatt Reply: $c0q0 d- 31.58 4.06 12.89 3.92 3.96 0 15731.32 06:50:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211946.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.910000 : 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,211947.00,,,,,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,211948.00,,,,,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,211949.00,,,,,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,211950.00,,,,,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: $aaq0 d- 31.44 3.52 12.40 3.93 3.96 0 24551.46 06:50:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211951.00,,,,,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,211952.00,,,,,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,211953.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.51 3.00 11.81 3.85 3.97 0 9736.94 06:50:28 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,211954.00,,,,,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,211955.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 3.73 12.98 3.92 3.96 0 15731.02 06:50:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,211956.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.900000 : 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,211957.00,,,,,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,211958.00,,,,,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,211959.00,,,,,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,212000.00,,,,,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: $aaq0 d- 31.44 3.22 12.40 3.93 3.96 0 24551.21 06:50:35 m : AshtechGps::processRecord() - $GPGGA,212001.00,,,,,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,212002.00,,,,,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,212003.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.47 2.53 11.81 3.85 3.97 0 9736.73 06:50:38 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,212004.00,,,,,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,212005.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 3.44 12.98 3.92 3.96 0 15730.64 06:50:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212006.00,,,,,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 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.900000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212007.00,,,,,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,212008.00,,,,,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,212009.00,,,,,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,212010.00,,,,,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: $aaq0 d- 31.44 3.15 12.30 3.93 3.96 0 24550.90 06:50:45 m : AshtechGps::processRecord() - $GPGGA,212011.00,,,,,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,212012.00,,,,,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,212013.00,,,,,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- 31.47 2.57 11.81 3.85 3.97 0 9736.43 06:50:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212014.00,,,,,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,212015.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 3.44 12.98 3.92 3.96 0 15730.38 06:50:50 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,212016.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.900000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212017.00,,,,,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,212018.00,,,,,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,212019.00,,,,,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,212020.00,,,,,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: $aaq0 d- 31.44 2.96 12.30 3.93 3.96 0 24550.70 06:50:55 m : AshtechGps::processRecord() - $GPGGA,212021.00,,,,,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,212022.00,,,,,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,212023.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.51 2.57 11.81 3.85 3.97 0 9736.24 06:50:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212024.00,,,,,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,212025.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 3.44 12.98 3.92 3.96 0 15730.01 06:51:00 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,212026.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.900000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212027.00,,,,,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,212028.00,,,,,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,212029.00,,,,,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,212030.00,,,,,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: $aaq0 d- 31.37 3.67 12.30 3.93 3.96 0 24550.40 06:51:05 m : AshtechGps::processRecord() - $GPGGA,212031.00,,,,,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,212032.00,,,,,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,212033.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.47 2.50 11.81 3.85 3.97 0 9735.92 06:51:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212034.00,,,,,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,212035.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 3.26 12.89 3.92 3.96 0 15729.78 06:51:10 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,212036.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.900000 : 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,212037.00,,,,,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,212038.00,,,,,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,212039.00,,,,,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,212040.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.33 3.82 12.30 3.93 3.96 0 24550.20 06:51:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212041.00,,,,,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,212042.00,,,,,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,212043.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : BluefinBatt Reply: $b6q0 d- 31.51 2.57 11.81 3.85 3.97 0 9735.72 06:51:18 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,212044.00,,,,,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,212045.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 3.19 12.89 3.92 3.96 0 15729.39 06:51:20 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,212046.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.900000 : 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,212047.00,,,,,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,212048.00,,,,,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,212049.00,,,,,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,212050.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.37 3.04 12.40 3.92 3.95 0 24549.90 06:51:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212051.00,,,,,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,212052.00,,,,,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,212053.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.51 2.57 11.81 3.85 3.96 0 9735.44 06:51:28 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,212054.00,,,,,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,212055.00,,,,,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: $c0q0 d- 31.62 3.16 12.89 3.92 3.96 0 15729.14 06:51:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212056.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.896667 : 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,212057.00,,,,,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,212058.00,,,,,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,212059.00,,,,,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,212100.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.37 3.30 12.30 3.92 3.95 0 24549.71 06:51:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212101.00,,,,,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,212102.00,,,,,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,212103.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.47 2.71 11.81 3.85 3.96 0 9735.25 06:51:38 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,212104.00,,,,,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,212105.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 3.34 12.89 3.92 3.95 0 15728.77 06:51:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212106.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.896667 : 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,212107.00,,,,,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,212108.00,,,,,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,212109.00,,,,,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,212110.00,,,,,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: $aaq0 d- 31.37 3.63 12.30 3.93 3.96 0 24549.38 06:51:45 m : AshtechGps::processRecord() - $GPGGA,212111.00,,,,,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,212112.00,,,,,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,212113.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.51 2.50 11.81 3.84 3.96 0 9734.96 06:51:48 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,212114.00,,,,,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,212115.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 3.34 12.89 3.92 3.95 0 15728.53 06:51:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212116.00,,,,,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 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.896667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212117.00,,,,,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,212118.00,,,,,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,212119.00,,,,,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,212120.00,,,,,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: $aaq0 d- 31.37 3.59 12.30 3.93 3.96 0 24549.18 06:51:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212121.00,,,,,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,212122.00,,,,,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,212123.00,,,,,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- 31.47 2.53 11.81 3.84 3.96 0 9734.77 06:51:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212124.00,,,,,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,212125.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 3.30 12.89 3.92 3.95 0 15728.16 06:52:00 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,212126.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.896667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212127.00,,,,,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,212128.00,,,,,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,212129.00,,,,,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,212130.00,,,,,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: $aaq0 d- 31.37 3.33 12.20 3.92 3.95 0 24548.88 06:52:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212131.00,,,,,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,212132.00,,,,,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,212133.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.51 2.42 11.81 3.84 3.96 0 9734.47 06:52:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212134.00,,,,,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,212135.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 3.52 12.89 3.92 3.95 0 15727.89 06:52:10 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,212136.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.893333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212137.00,,,,,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,212138.00,,,,,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,212139.00,,,,,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,212140.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : BluefinBatt Reply: $aaq0 d- 31.41 3.15 12.10 3.92 3.95 0 24548.67 06:52:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212141.00,,,,,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,212142.00,,,,,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,212143.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.47 2.60 11.81 3.84 3.96 0 9734.28 06:52:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212144.00,,,,,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,212145.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 3.23 12.89 3.91 3.95 0 15727.53 06:52:20 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,212146.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.890000 : 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,212147.00,,,,,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,212148.00,,,,,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,212149.00,,,,,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,212150.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.37 3.44 12.20 3.92 3.95 0 24548.36 06:52:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212151.00,,,,,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,212152.00,,,,,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,212153.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.47 2.78 11.81 3.85 3.96 0 9733.97 06:52:28 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,212154.00,,,,,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,212155.00,,,,,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: $c0q0 d- 31.58 4.52 12.89 3.91 3.95 0 15727.27 06:52:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212156.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.893333 : 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,212157.00,,,,,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,212158.00,,,,,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,212159.00,,,,,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,212200.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.41 3.56 12.20 3.92 3.95 0 24548.13 06:52:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212201.00,,,,,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,212202.00,,,,,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,212203.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.47 2.75 11.81 3.85 3.96 0 9733.77 06:52:38 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,212204.00,,,,,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,212205.00,,,,,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: $c0q0 d- 31.58 3.73 12.89 3.92 3.95 0 15726.87 06:52:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212206.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.896667 : 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,212207.00,,,,,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,212208.00,,,,,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,212209.00,,,,,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,212210.00,,,,,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: $aaq0 d- 31.41 3.89 12.10 3.92 3.95 0 24547.80 06:52:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212211.00,,,,,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,212212.00,,,,,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,212213.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.47 2.64 11.81 3.83 3.96 0 9733.46 06:52:48 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,212214.00,,,,,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,212215.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 3.44 12.89 3.92 3.95 0 15726.60 06:52:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212216.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.890000 : 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,212217.00,,,,,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,212218.00,,,,,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,212219.00,,,,,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,212220.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.41 3.30 12.20 3.92 3.95 0 24547.58 06:52:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212221.00,,,,,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,212222.00,,,,,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,212223.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.47 2.67 11.81 3.83 3.96 0 9733.26 06:52:58 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,212224.00,,,,,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,212225.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 3.37 12.98 3.92 3.95 0 15726.22 06:53:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212226.00,,,,,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 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.890000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212227.00,,,,,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,212228.00,,,,,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,212229.00,,,,,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,212230.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.41 3.59 12.30 3.92 3.95 0 24547.24 06:53:05 m : AshtechGps::processRecord() - $GPGGA,212231.00,,,,,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,212232.00,,,,,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,212233.00,,,,,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 : BluefinBatt Reply: $b6q0 d- 31.43 2.82 11.81 3.84 3.96 0 9732.96 06:53:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212234.00,,,,,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,212235.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 3.55 12.89 3.92 3.95 0 15725.91 06:53:10 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,212236.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.893333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212237.00,,,,,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,212238.00,,,,,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,212239.00,,,,,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,212240.00,,,,,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: $aaq0 d- 31.41 3.44 12.30 3.92 3.95 0 24547.03 06:53:15 m : AshtechGps::processRecord() - $GPGGA,212241.00,,,,,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,212242.00,,,,,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,212243.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.47 2.57 11.81 3.84 3.96 0 9732.76 06:53:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212244.00,,,,,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,212245.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 3.77 12.89 3.91 3.95 0 15725.53 06:53:20 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,212246.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.890000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212247.00,,,,,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,212248.00,,,,,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,212249.00,,,,,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,212250.00,,,,,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- 31.37 3.41 12.30 3.92 3.95 0 24546.69 06:53:25 m : AshtechGps::processRecord() - $GPGGA,212251.00,,,,,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,212252.00,,,,,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,212253.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.47 2.60 11.81 3.84 3.96 0 9732.45 06:53:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212254.00,,,,,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,212255.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 4.45 12.98 3.91 3.95 0 15725.27 06:53:30 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,212256.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.890000 : 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,212257.00,,,,,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,212258.00,,,,,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,212259.00,,,,,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,212300.00,,,,,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: $aaq0 d- 31.41 3.48 12.40 3.92 3.95 0 24546.48 06:53:35 m : AshtechGps::processRecord() - $GPGGA,212301.00,,,,,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,212302.00,,,,,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,212303.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.43 2.64 11.81 3.84 3.96 0 9732.26 06:53:38 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,212304.00,,,,,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,212305.00,,,,,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 : BluefinBatt Reply: $c0q0 d- 31.46 4.63 12.98 3.92 3.95 0 15724.89 06:53:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212306.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.893333 : 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,212307.00,,,,,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,212308.00,,,,,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,212309.00,,,,,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,212310.00,,,,,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: $aaq0 d- 31.41 3.44 12.40 3.92 3.95 0 24546.16 06:53:45 m : AshtechGps::processRecord() - $GPGGA,212311.00,,,,,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,212312.00,,,,,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,212313.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.47 2.64 11.81 3.84 3.96 0 9731.96 06:53:48 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,212314.00,,,,,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,212315.00,,,,,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: $c0q0 d- 31.58 3.59 12.98 3.92 3.95 0 15724.61 06:53:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212316.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.893333 : 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,212317.00,,,,,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,212318.00,,,,,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,212319.00,,,,,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,212320.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.41 3.11 12.30 3.92 3.95 0 24545.94 06:53:55 m : AshtechGps::processRecord() - $GPGGA,212321.00,,,,,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,212322.00,,,,,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,212323.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.47 2.67 11.81 3.84 3.96 0 9731.75 06:53:58 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,212324.00,,,,,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,212325.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 3.77 12.98 3.91 3.95 0 15724.23 06:54:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212326.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.890000 : 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,212327.00,,,,,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,212328.00,,,,,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,212329.00,,,,,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,212330.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.37 3.56 12.40 3.92 3.95 0 24545.62 06:54:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212331.00,,,,,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,212332.00,,,,,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,212333.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.43 2.67 11.81 3.84 3.96 0 9731.45 06:54:08 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,212334.00,,,,,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,212335.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 3.52 13.08 3.91 3.95 0 15723.97 06:54:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212336.00,,,,,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 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.890000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212337.00,,,,,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,212338.00,,,,,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,212339.00,,,,,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,212340.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.41 3.52 12.30 3.92 3.95 0 24545.40 06:54:15 m : AshtechGps::processRecord() - $GPGGA,212341.00,,,,,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,212342.00,,,,,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,212343.00,,,,,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- 31.43 2.67 11.81 3.84 3.96 0 9731.25 06:54:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212344.00,,,,,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,212345.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 3.66 13.08 3.92 3.95 0 15723.57 06:54:20 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,212346.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.893333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212347.00,,,,,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,212348.00,,,,,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,212349.00,,,,,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,212350.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.37 3.33 12.30 3.92 3.95 0 24545.08 06:54:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212351.00,,,,,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,212352.00,,,,,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,212353.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.47 2.67 11.81 3.84 3.96 0 9730.94 06:54:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212354.00,,,,,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,212355.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 4.06 13.08 3.92 3.95 0 15723.32 06:54:30 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,212356.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.893333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212357.00,,,,,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,212358.00,,,,,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,212359.00,,,,,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,212400.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.976251 under allowable altitude 10.000000. Stopping! : resetting depth trajectory : DepthEnvelope -- Measured altitude 9.976251 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.976251 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.37 3.48 12.30 3.92 3.95 0 24544.88 06:54:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212401.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.976251 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.976251 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.976251 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.976251 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.976251 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212402.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.275724 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.275724 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.275724 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.275724 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.275724 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212403.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.275724 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.43 2.75 11.81 3.84 3.96 0 9730.73 06:54:38 m : DepthEnvelope -- Measured altitude 9.275724 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.710058 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.710058 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.710058 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212404.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.710058 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.710058 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.710058 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.710058 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.049958 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212405.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.049958 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.69 1.68 13.08 3.93 3.96 0 15723.01 06:54:40 m : DepthEnvelope -- Measured altitude 8.049958 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.049958 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.049958 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.049958 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212406.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.049958 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.896667 : DepthEnvelope -- Measured altitude 8.049958 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.409046 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.409046 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.409046 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 : AshtechGps::processRecord() - $GPGGA,212407.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.409046 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.409046 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.409046 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.409046 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.701751 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212408.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.701751 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.701751 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.701751 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.701751 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.701751 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212409.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.701751 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.946930 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.946930 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.946930 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.946930 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212410.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.946930 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.946930 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.946930 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.946930 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.654967 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.52 1.11 12.40 3.94 3.96 0 24544.67 06:54:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212411.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.654967 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.654967 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.654967 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.654967 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.654967 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212412.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.654967 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.644209 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.644209 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.644209 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.644209 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212413.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.644209 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.55 1.33 11.81 3.86 3.98 0 9730.59 06:54:48 m : DepthEnvelope -- Measured altitude 5.644209 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.644209 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.652671 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.652671 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 : AshtechGps::processRecord() - $GPGGA,212414.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.652671 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.652671 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.652671 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.652671 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.652671 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212415.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.652671 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.66 1.76 13.08 3.93 3.96 0 15722.89 06:54:50 m : DepthEnvelope -- Measured altitude 5.825591 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.825591 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.825591 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.825591 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212416.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.825591 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.910000 : DepthEnvelope -- Measured altitude 5.825591 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.825591 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.234717 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.234717 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212417.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.234717 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.234717 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.234717 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.234717 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.234717 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212418.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.478777 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.478777 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.478777 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.478777 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.478777 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212419.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.478777 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.478777 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.478777 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.667575 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.667575 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212420.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.667575 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.667575 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.667575 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.667575 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.667575 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: $aaq0 d- 31.48 0.96 12.40 3.94 3.96 0 24544.57 06:54:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212421.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.861471 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.861471 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.861471 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.861471 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.861471 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212422.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.861471 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.861471 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.082957 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.082957 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.082957 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212423.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.082957 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.58 1.41 11.81 3.86 3.98 0 9730.50 06:54:58 m : DepthEnvelope -- Measured altitude 7.082957 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.082957 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.082957 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.082957 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212424.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.167891 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.167891 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.167891 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.167891 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.167891 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212425.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.167891 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- 31.69 1.65 13.08 3.93 3.96 0 15722.72 06:55:00 m : DepthEnvelope -- Measured altitude 7.167891 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.451954 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.451954 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.451954 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212426.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.451954 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.910000 : DepthEnvelope -- Measured altitude 7.451954 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.451954 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.451954 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.548249 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212427.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.548249 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.548249 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.548249 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.548249 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.548249 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 : AshtechGps::processRecord() - $GPGGA,212428.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.548249 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.548249 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.863187 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.863187 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.863187 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212429.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.863187 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.863187 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.863187 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.863187 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.899789 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212430.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.899789 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.899789 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.899789 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.899789 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.899789 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.56 1.14 12.40 3.94 3.96 0 24544.45 06:55:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212431.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.899789 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.943980 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.943980 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.943980 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.943980 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212432.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.943980 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.943980 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.943980 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.943980 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.974141 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212433.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.974141 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.58 1.33 11.81 3.86 3.98 0 9730.36 06:55:08 m : DepthEnvelope -- Measured altitude 7.974141 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.974141 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.974141 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.974141 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212434.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.974141 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.962330 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.962330 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.962330 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.962330 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 : AshtechGps::processRecord() - $GPGGA,212435.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.962330 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.962330 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.69 1.36 12.98 3.93 3.96 0 15722.61 06:55:10 m : DepthEnvelope -- Measured altitude 7.962330 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.962330 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.059259 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212436.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.059259 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.059259 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 3.860000, mean min cell voltage 3.910000 : DepthEnvelope -- Measured altitude 8.059259 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.059259 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.059259 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212437.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.059259 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.952974 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.952974 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.952974 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.952974 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212438.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.952974 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.952974 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.952974 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.148120 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.148120 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212439.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.148120 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.148120 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.148120 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.148120 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.148120 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212440.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.148120 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.113580 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.113580 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.113580 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.113580 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.48 0.96 12.40 3.94 3.96 0 24544.37 06:55:15 m : AshtechGps::processRecord() - $GPGGA,212441.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.113580 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.113580 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.113580 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.058672 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.058672 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 : AshtechGps::processRecord() - $GPGGA,212442.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.058672 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.058672 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.058672 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.058672 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.058672 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212443.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.303033 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.58 1.12 11.81 3.86 3.98 0 9730.27 06:55:18 m : DepthEnvelope -- Measured altitude 8.303033 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.303033 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.303033 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.303033 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212444.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.303033 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.303033 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.303033 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.499225 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.499225 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212445.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.499225 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.73 1.36 12.98 3.93 3.97 0 15722.47 06:55:20 m : DepthEnvelope -- Measured altitude 8.499225 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.499225 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.499225 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.499225 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212446.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.626365 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 3.860000, mean min cell voltage 3.910000 : DepthEnvelope -- Measured altitude 8.626365 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.626365 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.626365 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.626365 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212447.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.626365 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.626365 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.881046 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.881046 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.881046 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212448.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.881046 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.881046 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.881046 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.881046 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.881046 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 : AshtechGps::processRecord() - $GPGGA,212449.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.134387 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.134387 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.134387 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.134387 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.134387 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212450.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.134387 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.134387 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.205454 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.205454 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.205454 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.56 0.89 12.30 3.94 3.97 0 24544.27 06:55:25 m : AshtechGps::processRecord() - $GPGGA,212451.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.205454 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.205454 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.205454 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.205454 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.441396 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212452.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.441396 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.441396 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.441396 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.441396 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.441396 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212453.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.441396 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- 31.58 1.08 11.81 3.86 3.98 0 9730.15 06:55:28 m : DepthEnvelope -- Measured altitude 9.441396 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.483845 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.483845 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.483845 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212454.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.483845 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.483845 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.483845 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.483845 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.718193 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212455.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.718193 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.718193 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.73 1.29 12.98 3.93 3.97 0 15722.37 06:55:30 m : DepthEnvelope -- Measured altitude 9.718193 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.718193 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.718193 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 : AshtechGps::processRecord() - $GPGGA,212456.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.718193 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- altitude 10.118305 over abort altitude 10.000000, starting prop! : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.910000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212457.00,,,,,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,212458.00,,,,,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,212459.00,,,,,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,212500.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.44 2.37 12.30 3.94 3.97 0 24544.19 06:55:35 m : AshtechGps::processRecord() - $GPGGA,212501.00,,,,,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,212502.00,,,,,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,212503.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.47 3.07 11.81 3.86 3.98 0 9730.03 06:55:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212504.00,,,,,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,212505.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 3.95 12.98 3.92 3.95 0 15722.10 06:55:40 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,212506.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.906667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212507.00,,,,,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,212508.00,,,,,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,212509.00,,,,,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,212510.00,,,,,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: $aaq0 d- 31.41 3.48 12.40 3.92 3.95 0 24543.82 06:55:45 m : AshtechGps::processRecord() - $GPGGA,212511.00,,,,,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,212512.00,,,,,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,212513.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.43 3.26 11.81 3.85 3.96 0 9729.71 06:55:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212514.00,,,,,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,212515.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 3.80 12.98 3.92 3.95 0 15721.83 06:55:50 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,212516.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.896667 : 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,212517.00,,,,,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,212518.00,,,,,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,212519.00,,,,,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,212520.00,,,,,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- 31.41 3.04 12.30 3.92 3.95 0 24543.57 06:55:55 m : AshtechGps::processRecord() - $GPGGA,212521.00,,,,,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,212522.00,,,,,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,212523.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.47 3.00 11.71 3.85 3.96 0 9729.48 06:55:58 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,212524.00,,,,,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,212525.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 3.70 12.98 3.92 3.95 0 15721.43 06:56:00 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,212526.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.896667 : 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,212527.00,,,,,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,212528.00,,,,,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,212529.00,,,,,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,212530.00,,,,,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: $aaq0 d- 31.41 2.85 12.40 3.92 3.95 0 24543.17 06:56:05 m : AshtechGps::processRecord() - $GPGGA,212531.00,,,,,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,212532.00,,,,,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,212533.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.43 2.82 11.81 3.84 3.96 0 9729.19 06:56:08 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,212534.00,,,,,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,212535.00,,,,,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: $c0q0 d- 31.58 3.66 12.98 3.92 3.95 0 15721.18 06:56:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212536.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.893333 : 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,212537.00,,,,,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,212538.00,,,,,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,212539.00,,,,,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,212540.00,,,,,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: $aaq0 d- 31.37 3.44 12.30 3.92 3.95 0 24542.94 06:56:15 m : AshtechGps::processRecord() - $GPGGA,212541.00,,,,,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,212542.00,,,,,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,212543.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.43 2.71 11.81 3.84 3.96 0 9729.00 06:56:18 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,212544.00,,,,,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,212545.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 3.62 12.98 3.92 3.95 0 15720.79 06:56:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212546.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.893333 : 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,212547.00,,,,,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,212548.00,,,,,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,212549.00,,,,,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,212550.00,,,,,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: $aaq0 d- 31.41 2.78 12.30 3.92 3.95 0 24542.61 06:56:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212551.00,,,,,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,212552.00,,,,,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,212553.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.47 2.64 11.81 3.84 3.96 0 9728.72 06:56:28 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,212554.00,,,,,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,212555.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 3.48 12.89 3.92 3.95 0 15720.54 06:56:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212556.00,,,,,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 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.893333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212557.00,,,,,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,212558.00,,,,,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,212559.00,,,,,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,212600.00,,,,,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: $aaq0 d- 31.41 2.85 12.30 3.92 3.95 0 24542.38 06:56:35 m : AshtechGps::processRecord() - $GPGGA,212601.00,,,,,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,212602.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212603.00,,,,,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 : BluefinBatt Reply: $b6q0 d- 31.47 2.64 11.81 3.84 3.96 0 9728.52 06:56:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212604.00,,,,,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,212605.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 3.59 12.89 3.92 3.95 0 15720.18 06:56:40 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,212606.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.893333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212607.00,,,,,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,212608.00,,,,,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,212609.00,,,,,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,212610.00,,,,,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: $aaq0 d- 31.37 2.85 12.30 3.92 3.95 0 24542.05 06:56:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212611.00,,,,,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,212612.00,,,,,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,212613.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.47 2.82 11.81 3.84 3.96 0 9728.24 06:56:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212614.00,,,,,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,212615.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 3.26 12.89 3.92 3.95 0 15719.94 06:56:50 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,212616.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.893333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212617.00,,,,,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,212618.00,,,,,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,212619.00,,,,,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,212620.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.37 3.67 12.30 3.92 3.95 0 24541.83 06:56:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212621.00,,,,,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,212622.00,,,,,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,212623.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.47 2.57 11.81 3.84 3.96 0 9728.06 06:56:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212624.00,,,,,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,212625.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 3.66 12.89 3.92 3.95 0 15719.57 06:57:00 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,212626.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.893333 : 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,212627.00,,,,,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,212628.00,,,,,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,212629.00,,,,,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,212630.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.37 3.37 12.20 3.92 3.95 0 24541.50 06:57:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212631.00,,,,,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,212632.00,,,,,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,212633.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.43 2.86 11.81 3.84 3.96 0 9727.75 06:57:08 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,212634.00,,,,,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,212635.00,,,,,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: $c0q0 d- 31.58 3.55 12.89 3.92 3.95 0 15719.32 06:57:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212636.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.893333 : 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,212637.00,,,,,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,212638.00,,,,,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,212639.00,,,,,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,212640.00,,,,,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: $aaq0 d- 31.37 2.74 12.30 3.92 3.95 0 24541.28 06:57:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212641.00,,,,,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,212642.00,,,,,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,212643.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.43 2.71 11.81 3.84 3.96 0 9727.55 06:57:18 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,212644.00,,,,,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,212645.00,,,,,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: $c0q0 d- 31.58 3.62 12.89 3.92 3.95 0 15718.94 06:57:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212646.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.893333 : 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,212647.00,,,,,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,212648.00,,,,,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,212649.00,,,,,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,212650.00,,,,,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: $aaq0 d- 31.41 2.89 12.30 3.92 3.95 0 24540.90 06:57:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212651.00,,,,,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,212652.00,,,,,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,212653.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.47 2.78 11.81 3.84 3.96 0 9727.27 06:57:28 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,212654.00,,,,,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,212655.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 3.48 12.89 3.92 3.95 0 15718.69 06:57:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212656.00,,,,,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 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.893333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212657.00,,,,,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 : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212658.00,,,,,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,212659.00,,,,,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,212700.00,,,,,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: $aaq0 d- 31.37 3.19 12.20 3.92 3.95 0 24540.63 06:57:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212701.00,,,,,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,212702.00,,,,,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,212703.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.43 2.86 11.81 3.84 3.96 0 9727.08 06:57:38 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,212704.00,,,,,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,212705.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 3.80 12.89 3.91 3.95 0 15718.29 06:57:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212706.00,,,,,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 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.890000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212707.00,,,,,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,212708.00,,,,,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,212709.00,,,,,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,212710.00,,,,,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: $aaq0 d- 31.41 3.04 12.20 3.92 3.95 0 24540.24 06:57:45 m : AshtechGps::processRecord() - $GPGGA,212711.00,,,,,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,212712.00,,,,,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,212713.00,,,,,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- 31.43 3.00 11.81 3.84 3.96 0 9726.78 06:57:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212714.00,,,,,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,212715.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 3.84 12.89 3.91 3.95 0 15718.00 06:57:50 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,212716.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.890000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212717.00,,,,,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,212718.00,,,,,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,212719.00,,,,,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,212720.00,,,,,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: $aaq0 d- 31.41 3.59 12.20 3.92 3.95 0 24539.96 06:57:55 m : AshtechGps::processRecord() - $GPGGA,212721.00,,,,,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,212722.00,,,,,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,212723.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.43 2.86 11.71 3.84 3.96 0 9726.56 06:57:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212724.00,,,,,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,212725.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 3.95 12.89 3.91 3.95 0 15717.60 06:58:00 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,212726.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.890000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212727.00,,,,,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,212728.00,,,,,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,212729.00,,,,,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,212730.00,,,,,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: $aaq0 d- 31.37 3.22 12.20 3.92 3.95 0 24539.58 06:58:05 m : AshtechGps::processRecord() - $GPGGA,212731.00,,,,,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,212732.00,,,,,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,212733.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.39 2.82 11.71 3.84 3.96 0 9726.25 06:58:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212734.00,,,,,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,212735.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 5.24 12.89 3.91 3.95 0 15717.32 06:58:10 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,212736.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.890000 : 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,212737.00,,,,,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,212738.00,,,,,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,212739.00,,,,,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,212740.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.37 3.11 12.20 3.92 3.95 0 24539.32 06:58:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212741.00,,,,,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,212742.00,,,,,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,212743.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.43 2.89 11.81 3.84 3.96 0 9726.02 06:58:18 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,212744.00,,,,,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,212745.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.54 3.77 12.89 3.91 3.95 0 15716.89 06:58:20 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,212746.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.890000 : 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,212747.00,,,,,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,212748.00,,,,,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,212749.00,,,,,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,212750.00,,,,,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: $aaq0 d- 31.41 3.07 12.30 3.92 3.95 0 24538.96 06:58:25 m : AshtechGps::processRecord() - $GPGGA,212751.00,,,,,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,212752.00,,,,,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,212753.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.43 3.04 11.71 3.83 3.96 0 9725.72 06:58:28 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,212754.00,,,,,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,212755.00,,,,,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: $c0q0 d- 31.58 3.55 12.98 3.91 3.95 0 15716.63 06:58:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212756.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.886667 : 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,212757.00,,,,,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,212758.00,,,,,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,212759.00,,,,,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,212800.00,,,,,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: $aaq0 d- 31.41 2.96 12.30 3.92 3.95 0 24538.74 06:58:35 m : AshtechGps::processRecord() - $GPGGA,212801.00,,,,,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,212802.00,,,,,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,212803.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.43 2.93 11.81 3.83 3.96 0 9725.49 06:58:38 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,212804.00,,,,,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,212805.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.54 3.77 12.98 3.91 3.95 0 15716.24 06:58:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212806.00,,,,,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 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.886667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212807.00,,,,,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,212808.00,,,,,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,212809.00,,,,,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,212810.00,,,,,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: $aaq0 d- 31.41 2.96 12.30 3.92 3.95 0 24538.33 06:58:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212811.00,,,,,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,212812.00,,,,,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,212813.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.43 2.82 11.81 3.84 3.96 0 9725.17 06:58:48 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,212814.00,,,,,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,212815.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.54 3.84 12.98 3.91 3.95 0 15715.99 06:58:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212816.00,,,,,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 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.890000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212817.00,,,,,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,212818.00,,,,,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,212819.00,,,,,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,212820.00,,,,,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: $aaq0 d- 31.33 4.41 12.30 3.92 3.95 0 24538.10 06:58:55 m : AshtechGps::processRecord() - $GPGGA,212821.00,,,,,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,212822.00,,,,,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,212823.00,,,,,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- 31.43 2.75 11.81 3.84 3.96 0 9724.98 06:58:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212824.00,,,,,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,212825.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.54 3.70 13.08 3.91 3.95 0 15715.57 06:59:00 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,212826.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.890000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212827.00,,,,,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,212828.00,,,,,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,212829.00,,,,,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,212830.00,,,,,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: $aaq0 d- 31.37 3.19 12.40 3.92 3.94 0 24537.75 06:59:05 m : AshtechGps::processRecord() - $GPGGA,212831.00,,,,,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,212832.00,,,,,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,212833.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.43 2.96 11.71 3.84 3.96 0 9724.67 06:59:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212834.00,,,,,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,212835.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 3.88 13.08 3.91 3.95 0 15715.30 06:59:10 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,212836.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.890000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212837.00,,,,,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,212838.00,,,,,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,212839.00,,,,,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,212840.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.41 3.00 12.30 3.92 3.94 0 24537.50 06:59:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212841.00,,,,,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,212842.00,,,,,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,212843.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.43 3.00 11.81 3.84 3.96 0 9724.46 06:59:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212844.00,,,,,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,212845.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 3.55 13.08 3.91 3.95 0 15714.91 06:59:20 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,212846.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.890000 : 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,212847.00,,,,,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,212848.00,,,,,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,212849.00,,,,,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,212850.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.41 3.00 12.40 3.92 3.95 0 24537.14 06:59:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212851.00,,,,,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,212852.00,,,,,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,212853.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.43 3.00 11.81 3.83 3.96 0 9724.16 06:59:28 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,212854.00,,,,,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,212855.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.54 3.59 13.08 3.91 3.95 0 15714.65 06:59:30 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,212856.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.886667 : 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,212857.00,,,,,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,212858.00,,,,,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,212859.00,,,,,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,212900.00,,,,,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: $aaq0 d- 31.41 3.48 12.30 3.92 3.95 0 24536.91 06:59:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212901.00,,,,,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,212902.00,,,,,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,212903.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.43 2.93 11.81 3.83 3.96 0 9723.95 06:59:38 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,212904.00,,,,,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,212905.00,,,,,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: $c0q0 d- 31.54 3.77 12.98 3.91 3.95 0 15714.26 06:59:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212906.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.886667 : 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,212907.00,,,,,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,212908.00,,,,,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,212909.00,,,,,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,212910.00,,,,,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: $aaq0 d- 31.41 3.15 12.30 3.92 3.95 0 24536.55 06:59:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212911.00,,,,,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,212912.00,,,,,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,212913.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.43 2.78 11.81 3.84 3.96 0 9723.64 06:59:48 m : DepthEnvelope -- Measured altitude 9.588141 under allowable altitude 10.000000. Stopping! : resetting depth trajectory : DepthEnvelope -- Measured altitude 9.588141 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.588141 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.588141 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212914.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.588141 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.588141 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.588141 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.913906 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.913906 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 : AshtechGps::processRecord() - $GPGGA,212915.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.913906 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.913906 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.54 3.95 13.08 3.91 3.95 0 15713.99 06:59:50 m : DepthEnvelope -- Measured altitude 8.913906 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.913906 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.913906 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212916.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.499274 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.499274 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 3.840000, mean min cell voltage 3.890000 : DepthEnvelope -- Measured altitude 8.499274 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.499274 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.499274 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212917.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.499274 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.499274 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.499274 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.011193 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.011193 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212918.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.011193 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.011193 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.011193 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.011193 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.011193 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212919.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.185141 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.185141 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.185141 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.185141 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.185141 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212920.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.185141 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.185141 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.444537 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.444537 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.444537 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.48 0.96 12.40 3.92 3.95 0 24536.39 06:59:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212921.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.444537 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.444537 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.444537 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.444537 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.444537 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 : AshtechGps::processRecord() - $GPGGA,212922.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.828166 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.828166 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.828166 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.828166 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.828166 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212923.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.828166 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.55 1.12 11.81 3.84 3.96 0 9723.52 06:59:58 m : DepthEnvelope -- Measured altitude 5.828166 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.498702 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.498702 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.498702 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212924.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.498702 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.498702 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.498702 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.498702 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.340871 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212925.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.340871 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.62 1.65 13.08 3.93 3.96 0 15713.80 07:00:00 m : DepthEnvelope -- Measured altitude 5.340871 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.340871 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.340871 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.340871 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212926.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.340871 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 3.840000, mean min cell voltage 3.896667 : DepthEnvelope -- Measured altitude 5.340871 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.383112 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.383112 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.383112 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212927.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.383112 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.383112 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.383112 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.383112 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.513423 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212928.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.513423 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.513423 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.513423 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.513423 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.513423 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 : AshtechGps::processRecord() - $GPGGA,212929.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.513423 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.707981 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.707981 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.707981 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.707981 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212930.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.707981 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.707981 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.707981 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.707981 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.042280 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.48 1.29 12.30 3.93 3.96 0 24536.24 07:00:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212931.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.042280 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.042280 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.042280 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.042280 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.042280 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212932.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.042280 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.334197 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.334197 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.334197 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.334197 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212933.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.334197 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- 31.55 1.44 11.81 3.85 3.97 0 9723.37 07:00:08 m : DepthEnvelope -- Measured altitude 6.334197 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.334197 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.334197 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.482572 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212934.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.482572 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.482572 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.482572 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.482572 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.482572 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212935.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.482572 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.657829 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.66 1.29 13.08 3.93 3.96 0 15713.68 07:00:10 m : DepthEnvelope -- Measured altitude 6.657829 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.657829 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.657829 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 : AshtechGps::processRecord() - $GPGGA,212936.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.657829 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.657829 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.903333 : DepthEnvelope -- Measured altitude 6.657829 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.675961 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.675961 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212937.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.675961 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.675961 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.675961 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.675961 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.675961 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212938.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.675961 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.891208 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.891208 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.891208 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.891208 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212939.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.891208 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.891208 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.891208 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.076820 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.076820 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212940.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.076820 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.076820 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.076820 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.076820 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.076820 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.44 1.07 12.40 3.93 3.96 0 24536.15 07:00:15 m : AshtechGps::processRecord() - $GPGGA,212941.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.345626 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.345626 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.345626 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.345626 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.345626 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212942.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.345626 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.345626 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.345626 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.353615 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.353615 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 : AshtechGps::processRecord() - $GPGGA,212943.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.353615 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.55 1.19 11.81 3.85 3.97 0 9723.28 07:00:18 m : DepthEnvelope -- Measured altitude 7.353615 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.353615 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.353615 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.353615 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212944.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.622379 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.622379 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.622379 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.622379 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.622379 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212945.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.622379 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.69 1.50 12.98 3.93 3.96 0 15713.51 07:00:20 m : DepthEnvelope -- Measured altitude 7.622379 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.612303 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.612303 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.612303 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212946.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.612303 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.903333 : DepthEnvelope -- Measured altitude 7.612303 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.612303 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.612303 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.612303 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212947.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.611311 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.611311 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.611311 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.611311 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.611311 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212948.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.611311 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.611311 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.460923 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.460923 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.460923 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212949.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.460923 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.460923 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.460923 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.460923 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.460923 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 : AshtechGps::processRecord() - $GPGGA,212950.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.512877 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.512877 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.512877 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.512877 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.512877 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.44 1.03 12.40 3.93 3.96 0 24536.03 07:00:25 m : AshtechGps::processRecord() - $GPGGA,212951.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.512877 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.512877 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.678487 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.678487 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.678487 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212952.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.678487 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.678487 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.678487 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.678487 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.621092 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212953.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.621092 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.55 1.12 11.81 3.86 3.97 0 9723.15 07:00:28 m : DepthEnvelope -- Measured altitude 7.621092 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.621092 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.621092 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.621092 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212954.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.621092 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.621092 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.679700 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.679700 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.679700 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212955.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.679700 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.69 1.21 12.98 3.93 3.96 0 15713.42 07:00:30 m : DepthEnvelope -- Measured altitude 7.679700 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.679700 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.679700 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.792049 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212956.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.792049 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.906667 : DepthEnvelope -- Measured altitude 7.792049 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.792049 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.792049 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.792049 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 : AshtechGps::processRecord() - $GPGGA,212957.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.792049 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.976021 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.976021 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.976021 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.976021 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212958.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.976021 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.976021 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.976021 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.976021 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.086633 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,212959.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.086633 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.086633 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.086633 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.086633 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.086633 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213000.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.086633 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.485108 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.485108 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.485108 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.485108 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.48 1.00 12.40 3.93 3.96 0 24535.97 07:00:35 m : AshtechGps::processRecord() - $GPGGA,213001.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.485108 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.485108 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.485108 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.637229 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.637229 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213002.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.637229 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.637229 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.637229 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.637229 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.637229 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213003.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.637229 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.55 1.08 11.81 3.86 3.97 0 9723.07 07:00:38 m : DepthEnvelope -- Measured altitude 8.988777 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.988777 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.988777 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.988777 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 : AshtechGps::processRecord() - $GPGGA,213004.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.988777 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.988777 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.988777 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.096071 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.096071 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213005.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.096071 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.66 1.61 12.98 3.93 3.96 0 15713.29 07:00:40 m : DepthEnvelope -- Measured altitude 9.096071 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.096071 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.096071 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.096071 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213006.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.287654 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.906667 : DepthEnvelope -- Measured altitude 9.287654 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.287654 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.287654 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.287654 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213007.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.287654 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.287654 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.287654 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.508593 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.508593 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213008.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.508593 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.508593 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.508593 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.508593 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.508593 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213009.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.632253 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.632253 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.632253 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.632253 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.632253 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213010.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.632253 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.632253 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.915540 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.915540 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.915540 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 : BluefinBatt Reply: $aaq0 d- 31.52 1.00 12.30 3.94 3.96 0 24535.87 07:00:45 m : AshtechGps::processRecord() - $GPGGA,213011.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.915540 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.915540 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.915540 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.915540 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.915540 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213012.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.867144 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.867144 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.867144 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.867144 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.867144 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213013.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.867144 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.55 1.12 11.81 3.86 3.98 0 9722.95 07:00:48 m : DepthEnvelope -- Measured altitude 9.867144 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- altitude 10.236297 over abort altitude 10.000000, starting prop! : 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,213014.00,,,,,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,213015.00,,,,,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 : BluefinBatt Reply: $c0q0 d- 31.69 1.29 12.89 3.93 3.96 0 15713.20 07:00:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213016.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.910000 : 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,213017.00,,,,,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,213018.00,,,,,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,213019.00,,,,,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,213020.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.41 3.30 12.40 3.94 3.96 0 24535.79 07:00:55 m : AshtechGps::processRecord() - $GPGGA,213021.00,,,,,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,213022.00,,,,,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,213023.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.43 3.04 11.71 3.86 3.98 0 9722.81 07:00:58 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,213024.00,,,,,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,213025.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 3.84 12.98 3.91 3.95 0 15712.90 07:01:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213026.00,,,,,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 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.903333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213027.00,,,,,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,213028.00,,,,,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,213029.00,,,,,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,213030.00,,,,,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: $aaq0 d- 31.37 3.75 12.40 3.92 3.95 0 24535.42 07:01:05 m : AshtechGps::processRecord() - $GPGGA,213031.00,,,,,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,213032.00,,,,,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,213033.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.43 3.73 11.81 3.84 3.96 0 9722.49 07:01:08 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,213034.00,,,,,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,213035.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 4.63 12.89 3.91 3.95 0 15712.63 07:01:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213036.00,,,,,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 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.890000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213037.00,,,,,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,213038.00,,,,,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,213039.00,,,,,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,213040.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.37 3.56 12.30 3.92 3.95 0 24535.16 07:01:15 m : AshtechGps::processRecord() - $GPGGA,213041.00,,,,,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,213042.00,,,,,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,213043.00,,,,,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 : BluefinBatt Reply: $b6q0 d- 31.43 2.93 11.81 3.84 3.96 0 9722.28 07:01:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213044.00,,,,,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,213045.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.54 3.77 12.98 3.91 3.95 0 15712.26 07:01:20 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,213046.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.890000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213047.00,,,,,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,213048.00,,,,,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,213049.00,,,,,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,213050.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.37 3.26 12.30 3.92 3.95 0 24534.78 07:01:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213051.00,,,,,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,213052.00,,,,,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,213053.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.47 2.86 11.81 3.84 3.96 0 9721.98 07:01:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213054.00,,,,,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,213055.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 3.55 12.98 3.91 3.95 0 15712.03 07:01:30 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,213056.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.890000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213057.00,,,,,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,213058.00,,,,,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,213059.00,,,,,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,213100.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.41 3.04 12.30 3.92 3.95 0 24534.58 07:01:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213101.00,,,,,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,213102.00,,,,,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,213103.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.43 3.37 11.71 3.84 3.96 0 9721.81 07:01:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213104.00,,,,,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,213105.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 3.30 12.98 3.91 3.95 0 15711.70 07:01:40 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,213106.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.890000 : 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,213107.00,,,,,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,213108.00,,,,,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,213109.00,,,,,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,213110.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.41 2.92 12.40 3.92 3.95 0 24534.25 07:01:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213111.00,,,,,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,213112.00,,,,,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,213113.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.43 3.15 11.81 3.84 3.96 0 9721.50 07:01:48 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,213114.00,,,,,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,213115.00,,,,,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 : BluefinBatt Reply: $c0q0 d- 31.54 3.59 12.89 3.91 3.95 0 15711.48 07:01:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213116.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.890000 : 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,213117.00,,,,,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,213118.00,,,,,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,213119.00,,,,,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,213120.00,,,,,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: $aaq0 d- 31.37 3.30 12.30 3.92 3.95 0 24534.01 07:01:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213121.00,,,,,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,213122.00,,,,,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 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213123.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.39 3.04 11.81 3.84 3.96 0 9721.31 07:01:58 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,213124.00,,,,,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,213125.00,,,,,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: $c0q0 d- 31.58 3.44 12.89 3.91 3.95 0 15711.09 07:02:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213126.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.890000 : 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,213127.00,,,,,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,213128.00,,,,,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,213129.00,,,,,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,213130.00,,,,,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: $aaq0 d- 31.41 3.30 12.30 3.92 3.95 0 24533.66 07:02:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213131.00,,,,,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,213132.00,,,,,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,213133.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.43 3.04 11.81 3.84 3.96 0 9721.04 07:02:08 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,213134.00,,,,,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,213135.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 3.37 12.89 3.91 3.95 0 15710.86 07:02:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213136.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.890000 : 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,213137.00,,,,,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,213138.00,,,,,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,213139.00,,,,,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,213140.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.37 3.37 12.20 3.92 3.95 0 24533.43 07:02:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213141.00,,,,,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,213142.00,,,,,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,213143.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.39 2.75 11.81 3.84 3.96 0 9720.82 07:02:18 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,213144.00,,,,,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,213145.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.54 3.77 12.89 3.91 3.95 0 15710.51 07:02:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213146.00,,,,,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 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.890000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213147.00,,,,,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,213148.00,,,,,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,213149.00,,,,,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,213150.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.41 3.22 12.20 3.92 3.95 0 24533.07 07:02:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213151.00,,,,,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,213152.00,,,,,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,213153.00,,,,,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 : BluefinBatt Reply: $b6q0 d- 31.43 2.71 11.81 3.84 3.96 0 9720.53 07:02:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213154.00,,,,,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,213155.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 3.41 12.89 3.91 3.95 0 15710.27 07:02:30 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,213156.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.890000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213157.00,,,,,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,213158.00,,,,,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,213159.00,,,,,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,213200.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.41 3.04 12.20 3.92 3.95 0 24532.84 07:02:35 m : AshtechGps::processRecord() - $GPGGA,213201.00,,,,,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,213202.00,,,,,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,213203.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.43 3.40 11.81 3.84 3.96 0 9720.34 07:02:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213204.00,,,,,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,213205.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 3.55 12.89 3.91 3.95 0 15709.93 07:02:40 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,213206.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.890000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213207.00,,,,,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,213208.00,,,,,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,213209.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : 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,213210.00,,,,,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: $aaq0 d- 31.41 3.07 12.20 3.92 3.95 0 24532.50 07:02:45 m : AshtechGps::processRecord() - $GPGGA,213211.00,,,,,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,213212.00,,,,,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,213213.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.43 2.82 11.81 3.84 3.96 0 9720.05 07:02:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213214.00,,,,,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,213215.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.54 3.62 12.89 3.91 3.95 0 15709.70 07:02:50 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,213216.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.890000 : 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,213217.00,,,,,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,213218.00,,,,,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,213219.00,,,,,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,213220.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.37 3.44 12.20 3.92 3.95 0 24532.26 07:02:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213221.00,,,,,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,213222.00,,,,,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,213223.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.39 3.26 11.81 3.84 3.96 0 9719.85 07:02:58 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,213224.00,,,,,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,213225.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 5.03 12.89 3.91 3.95 0 15709.33 07:03:00 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,213226.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.890000 : 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,213227.00,,,,,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,213228.00,,,,,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,213229.00,,,,,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,213230.00,,,,,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: $aaq0 d- 31.37 3.48 12.20 3.92 3.95 0 24531.84 07:03:05 m : AshtechGps::processRecord() - $GPGGA,213231.00,,,,,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,213232.00,,,,,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,213233.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.35 3.22 11.81 3.84 3.96 0 9719.55 07:03:08 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,213234.00,,,,,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,213235.00,,,,,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: $c0q0 d- 31.54 3.88 12.89 3.91 3.95 0 15709.08 07:03:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213236.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.890000 : 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,213237.00,,,,,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,213238.00,,,,,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,213239.00,,,,,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,213240.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.37 3.26 12.20 3.92 3.95 0 24531.54 07:03:15 m : AshtechGps::processRecord() - $GPGGA,213241.00,,,,,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,213242.00,,,,,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,213243.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.32 3.62 11.81 3.84 3.96 0 9719.34 07:03:18 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,213244.00,,,,,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,213245.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.50 3.91 12.89 3.91 3.94 0 15708.67 07:03:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213246.00,,,,,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 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.890000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213247.00,,,,,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,213248.00,,,,,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,213249.00,,,,,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,213250.00,,,,,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: $aaq0 d- 31.37 3.37 12.20 3.92 3.94 0 24531.18 07:03:25 m : AshtechGps::processRecord() - $GPGGA,213251.00,,,,,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,213252.00,,,,,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,213253.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.39 2.89 11.81 3.84 3.96 0 9719.04 07:03:28 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,213254.00,,,,,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,213255.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.50 3.95 12.98 3.91 3.94 0 15708.41 07:03:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213256.00,,,,,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 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.890000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213257.00,,,,,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,213258.00,,,,,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,213259.00,,,,,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,213300.00,,,,,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: $aaq0 d- 31.29 3.52 12.30 3.92 3.94 0 24530.93 07:03:35 m : AshtechGps::processRecord() - $GPGGA,213301.00,,,,,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,213302.00,,,,,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,213303.00,,,,,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- 31.39 2.89 11.71 3.84 3.96 0 9718.80 07:03:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213304.00,,,,,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,213305.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.54 3.73 12.98 3.91 3.95 0 15708.04 07:03:40 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,213306.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.890000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213307.00,,,,,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,213308.00,,,,,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,213309.00,,,,,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,213310.00,,,,,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: $aaq0 d- 31.41 3.04 12.40 3.92 3.94 0 24530.53 07:03:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213311.00,,,,,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,213312.00,,,,,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,213313.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.43 2.82 11.81 3.84 3.96 0 9718.50 07:03:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213314.00,,,,,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,213315.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.50 3.84 12.98 3.91 3.95 0 15707.76 07:03:50 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,213316.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.890000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213317.00,,,,,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,213318.00,,,,,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,213319.00,,,,,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,213320.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.37 3.33 12.40 3.92 3.94 0 24530.28 07:03:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213321.00,,,,,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,213322.00,,,,,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,213323.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.39 2.82 11.71 3.84 3.96 0 9718.30 07:03:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213324.00,,,,,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,213325.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.54 3.88 12.98 3.91 3.94 0 15707.40 07:04:00 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,213326.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.890000 : 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,213327.00,,,,,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,213328.00,,,,,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,213329.00,,,,,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,213330.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.37 3.44 12.30 3.92 3.94 0 24529.92 07:04:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213331.00,,,,,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,213332.00,,,,,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,213333.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.32 3.40 11.81 3.84 3.96 0 9718.01 07:04:08 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,213334.00,,,,,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,213335.00,,,,,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: $c0q0 d- 31.54 3.70 12.98 3.91 3.94 0 15707.16 07:04:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213336.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.890000 : 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,213337.00,,,,,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,213338.00,,,,,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,213339.00,,,,,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,213340.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.33 3.07 12.40 3.92 3.94 0 24529.68 07:04:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213341.00,,,,,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,213342.00,,,,,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,213343.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.39 2.89 11.81 3.84 3.96 0 9717.79 07:04:18 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,213344.00,,,,,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,213345.00,,,,,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: $c0q0 d- 31.54 3.66 13.08 3.91 3.95 0 15706.80 07:04:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213346.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.890000 : 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,213347.00,,,,,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,213348.00,,,,,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,213349.00,,,,,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,213350.00,,,,,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: $aaq0 d- 31.37 3.22 12.30 3.92 3.94 0 24529.30 07:04:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213351.00,,,,,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,213352.00,,,,,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,213353.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.39 3.04 11.81 3.84 3.96 0 9717.48 07:04:28 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,213354.00,,,,,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,213355.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.54 3.59 12.98 3.91 3.95 0 15706.55 07:04:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213356.00,,,,,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 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.890000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213357.00,,,,,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,213358.00,,,,,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,213359.00,,,,,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,213400.00,,,,,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: $aaq0 d- 31.37 3.22 12.30 3.92 3.94 0 24529.06 07:04:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213401.00,,,,,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,213402.00,,,,,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,213403.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.39 3.29 11.81 3.84 3.96 0 9717.27 07:04:38 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,213404.00,,,,,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,213405.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.54 3.66 12.98 3.91 3.94 0 15706.19 07:04:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213406.00,,,,,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 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.890000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213407.00,,,,,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,213408.00,,,,,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,213409.00,,,,,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,213410.00,,,,,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: $aaq0 d- 31.33 3.26 12.40 3.92 3.94 0 24528.70 07:04:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213411.00,,,,,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,213412.00,,,,,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,213413.00,,,,,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- 31.35 3.29 11.81 3.84 3.96 0 9716.96 07:04:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213414.00,,,,,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,213415.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.54 3.55 12.98 3.91 3.94 0 15705.95 07:04:50 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,213416.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.890000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213417.00,,,,,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,213418.00,,,,,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,213419.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.670098 under allowable altitude 10.000000. Stopping! : resetting depth trajectory : DepthEnvelope -- Measured altitude 9.670098 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.670098 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213420.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.670098 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.670098 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.670098 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.670098 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.034260 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.37 3.33 12.40 3.92 3.94 0 24528.45 07:04:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213421.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.034260 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.034260 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.034260 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.034260 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.034260 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213422.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.034260 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.034260 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.554674 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.554674 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.554674 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 : AshtechGps::processRecord() - $GPGGA,213423.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.554674 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.43 2.10 11.81 3.84 3.96 0 9716.75 07:04:58 m : DepthEnvelope -- Measured altitude 8.554674 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.554674 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.554674 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.057462 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213424.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.057462 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.057462 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.057462 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.057462 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.057462 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213425.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.057462 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.405940 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.62 1.65 12.98 3.92 3.96 0 15705.67 07:05:00 m : DepthEnvelope -- Measured altitude 7.405940 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.405940 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.405940 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213426.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.405940 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.405940 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.893333 : DepthEnvelope -- Measured altitude 7.405940 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.405940 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.767052 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213427.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.767052 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.767052 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.767052 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.767052 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.767052 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213428.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.767052 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.031425 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.031425 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.031425 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.031425 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213429.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.031425 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.031425 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.031425 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.570948 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.570948 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 : AshtechGps::processRecord() - $GPGGA,213430.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.570948 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.570948 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.570948 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.570948 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.570948 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.44 1.14 12.40 3.93 3.96 0 24528.23 07:05:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213431.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.570948 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.434725 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.434725 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.434725 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.434725 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213432.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.434725 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.434725 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.434725 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.219733 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.219733 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213433.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.55 1.08 11.81 3.85 3.97 0 9716.62 07:05:08 m : DepthEnvelope -- Measured altitude 5.219733 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.219733 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.219733 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.219733 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.219733 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213434.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.274146 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.274146 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.274146 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.274146 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.274146 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213435.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.274146 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.62 1.36 12.98 3.92 3.96 0 15705.55 07:05:10 m : DepthEnvelope -- Measured altitude 5.274146 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.274146 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.480266 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.480266 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213436.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.480266 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.900000 : DepthEnvelope -- Measured altitude 5.480266 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.480266 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.480266 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.480266 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 : AshtechGps::processRecord() - $GPGGA,213437.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.671347 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.671347 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.671347 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.671347 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.671347 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213438.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.671347 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.671347 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.671347 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.821110 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.821110 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213439.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.821110 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.821110 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.821110 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.821110 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.821110 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213440.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.996079 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.996079 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.996079 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.996079 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.996079 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.44 0.96 12.30 3.93 3.96 0 24528.16 07:05:15 m : AshtechGps::processRecord() - $GPGGA,213441.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.996079 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.996079 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.157276 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.157276 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.157276 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213442.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.157276 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.157276 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.157276 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.157276 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.157276 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213443.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.244955 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.51 1.19 11.81 3.85 3.97 0 9716.55 07:05:18 m : DepthEnvelope -- Measured altitude 6.244955 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.244955 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.244955 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.244955 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 : AshtechGps::processRecord() - $GPGGA,213444.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.244955 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.244955 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.364318 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.364318 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.364318 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213445.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.364318 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.62 1.36 13.08 3.92 3.96 0 15705.39 07:05:20 m : DepthEnvelope -- Measured altitude 6.364318 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.364318 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.364318 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.602110 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213446.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.602110 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.900000 : DepthEnvelope -- Measured altitude 6.602110 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.602110 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.602110 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.602110 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213447.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.602110 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.602110 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.749479 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.749479 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.749479 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213448.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.749479 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.749479 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.749479 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.749479 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.990524 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213449.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.990524 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.990524 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.990524 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.990524 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.990524 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213450.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.990524 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.027563 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.027563 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.027563 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.027563 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 : BluefinBatt Reply: $aaq0 d- 31.44 1.37 12.40 3.93 3.96 0 24528.06 07:05:25 m : AshtechGps::processRecord() - $GPGGA,213451.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.027563 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.027563 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.027563 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.027563 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.065616 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213452.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.065616 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.065616 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.065616 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.065616 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.065616 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213453.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.065616 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.55 1.12 11.81 3.85 3.97 0 9716.41 07:05:28 m : DepthEnvelope -- Measured altitude 7.033824 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.033824 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.033824 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.033824 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213454.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.033824 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.033824 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.033824 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.955332 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.955332 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213455.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.955332 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.955332 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.66 1.36 12.98 3.92 3.96 0 15705.28 07:05:30 m : DepthEnvelope -- Measured altitude 6.955332 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.955332 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.955332 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213456.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.955332 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.056756 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.900000 : DepthEnvelope -- Measured altitude 7.056756 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.056756 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.056756 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213457.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.056756 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.056756 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.056756 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.026038 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.026038 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 : AshtechGps::processRecord() - $GPGGA,213458.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.026038 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.026038 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.026038 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.026038 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.026038 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213459.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.054194 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.054194 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.054194 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.054194 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.054194 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213500.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.054194 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.054194 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.054194 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.099187 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.099187 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.48 0.89 12.30 3.93 3.96 0 24527.99 07:05:35 m : AshtechGps::processRecord() - $GPGGA,213501.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.099187 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.099187 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.099187 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.099187 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.099187 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213502.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.335977 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.335977 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.335977 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.335977 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.335977 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213503.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.335977 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.55 1.08 11.81 3.85 3.97 0 9716.33 07:05:38 m : DepthEnvelope -- Measured altitude 7.335977 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.463152 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.463152 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.463152 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213504.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.463152 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.463152 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.463152 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.463152 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.463152 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 : AshtechGps::processRecord() - $GPGGA,213505.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.792961 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.792961 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.66 1.29 12.98 3.93 3.96 0 15705.15 07:05:40 m : DepthEnvelope -- Measured altitude 7.792961 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.792961 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.792961 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213506.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.792961 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.792961 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 3.850000, mean min cell voltage 3.903333 : DepthEnvelope -- Measured altitude 8.046784 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.046784 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.046784 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213507.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.046784 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.046784 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.046784 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.046784 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.046784 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213508.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.314406 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.314406 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.314406 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.314406 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.314406 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213509.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.314406 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.314406 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.561491 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.561491 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.561491 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213510.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.561491 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.561491 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.561491 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.561491 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.594415 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.48 0.89 12.40 3.93 3.96 0 24527.89 07:05:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213511.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.594415 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.594415 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.594415 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.594415 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.594415 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 : AshtechGps::processRecord() - $GPGGA,213512.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.594415 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.594415 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.872655 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.872655 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.872655 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213513.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.55 1.08 11.71 3.86 3.97 0 9716.21 07:05:48 m : DepthEnvelope -- Measured altitude 8.872655 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.872655 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.872655 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.872655 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.981678 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213514.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.981678 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.981678 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.981678 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.981678 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.981678 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213515.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.981678 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.69 1.25 12.89 3.93 3.96 0 15705.05 07:05:50 m : DepthEnvelope -- Measured altitude 9.024531 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.024531 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.024531 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.024531 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213516.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.024531 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 3.860000, mean min cell voltage 3.906667 : DepthEnvelope -- Measured altitude 9.024531 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.024531 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.024531 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.373084 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213517.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.373084 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.373084 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.373084 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.373084 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.373084 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213518.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.373084 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.644617 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.644617 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.644617 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.644617 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 : AshtechGps::processRecord() - $GPGGA,213519.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.644617 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.644617 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.644617 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.906805 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.906805 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213520.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.906805 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.906805 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.906805 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.906805 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.906805 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : BluefinBatt Reply: $aaq0 d- 31.48 0.85 12.30 3.93 3.96 0 24527.82 07:05:55 m : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213521.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.906805 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- altitude 10.156807 over abort altitude 10.000000, starting prop! : 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,213522.00,,,,,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,213523.00,,,,,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 : BluefinBatt Reply: $b6q0 d- 31.55 1.08 11.71 3.86 3.97 0 9716.14 07:05:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213524.00,,,,,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,213525.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 2.30 12.89 3.92 3.96 0 15704.88 07:06:00 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,213526.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.903333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213527.00,,,,,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,213528.00,,,,,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,213529.00,,,,,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,213530.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.29 3.75 12.30 3.93 3.96 0 24527.61 07:06:05 m : AshtechGps::processRecord() - $GPGGA,213531.00,,,,,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,213532.00,,,,,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,213533.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.39 3.04 11.71 3.86 3.97 0 9715.87 07:06:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213534.00,,,,,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,213535.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.54 3.84 12.89 3.92 3.96 0 15704.61 07:06:10 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,213536.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.903333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213537.00,,,,,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,213538.00,,,,,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,213539.00,,,,,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,213540.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.41 3.30 12.30 3.93 3.96 0 24527.37 07:06:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213541.00,,,,,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,213542.00,,,,,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,213543.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.43 2.86 11.71 3.86 3.97 0 9715.65 07:06:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213544.00,,,,,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,213545.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.54 4.92 12.98 3.91 3.95 0 15704.19 07:06:20 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,213546.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.900000 : 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,213547.00,,,,,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,213548.00,,,,,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,213549.00,,,,,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,213550.00,,,,,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: $aaq0 d- 31.41 3.11 12.30 3.92 3.94 0 24527.00 07:06:25 m : AshtechGps::processRecord() - $GPGGA,213551.00,,,,,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,213552.00,,,,,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,213553.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.43 3.07 11.81 3.84 3.96 0 9715.34 07:06:28 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,213554.00,,,,,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,213555.00,,,,,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 : BluefinBatt Reply: $c0q0 d- 31.54 3.41 12.98 3.91 3.95 0 15703.88 07:06:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213556.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.890000 : 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,213557.00,,,,,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,213558.00,,,,,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,213559.00,,,,,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,213600.00,,,,,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: $aaq0 d- 31.41 2.85 12.30 3.92 3.94 0 24526.77 07:06:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213601.00,,,,,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,213602.00,,,,,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,213603.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.43 2.75 11.81 3.84 3.96 0 9715.14 07:06:38 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,213604.00,,,,,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,213605.00,,,,,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: $c0q0 d- 31.54 3.62 12.98 3.91 3.95 0 15703.51 07:06:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213606.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.890000 : 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,213607.00,,,,,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,213608.00,,,,,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,213609.00,,,,,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,213610.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.37 2.92 12.30 3.92 3.94 0 24526.44 07:06:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213611.00,,,,,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,213612.00,,,,,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,213613.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.39 2.82 11.81 3.84 3.96 0 9714.85 07:06:48 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,213614.00,,,,,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,213615.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.54 3.59 12.98 3.91 3.95 0 15703.26 07:06:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213616.00,,,,,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 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.890000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213617.00,,,,,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,213618.00,,,,,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,213619.00,,,,,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,213620.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.37 2.82 12.30 3.92 3.94 0 24526.20 07:06:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213621.00,,,,,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,213622.00,,,,,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,213623.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.39 2.67 11.81 3.84 3.96 0 9714.65 07:06:58 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,213624.00,,,,,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,213625.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.54 3.52 12.89 3.91 3.95 0 15702.89 07:07:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213626.00,,,,,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 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.890000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213627.00,,,,,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,213628.00,,,,,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,213629.00,,,,,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,213630.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.33 2.82 12.30 3.92 3.95 0 24525.86 07:07:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213631.00,,,,,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,213632.00,,,,,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,213633.00,,,,,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- 31.39 2.67 11.81 3.84 3.96 0 9714.36 07:07:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213634.00,,,,,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,213635.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.50 3.77 12.89 3.91 3.95 0 15702.60 07:07:10 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,213636.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.890000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213637.00,,,,,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,213638.00,,,,,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,213639.00,,,,,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,213640.00,,,,,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: $aaq0 d- 31.37 2.89 12.30 3.92 3.95 0 24525.64 07:07:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213641.00,,,,,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,213642.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : 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,213643.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.39 2.75 11.81 3.84 3.96 0 9714.16 07:07:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213644.00,,,,,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,213645.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.54 3.66 12.89 3.91 3.94 0 15702.22 07:07:20 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,213646.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.890000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213647.00,,,,,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,213648.00,,,,,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,213649.00,,,,,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,213650.00,,,,,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: $aaq0 d- 31.41 2.85 12.20 3.92 3.94 0 24525.31 07:07:25 m : AshtechGps::processRecord() - $GPGGA,213651.00,,,,,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,213652.00,,,,,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,213653.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.39 2.78 11.81 3.84 3.96 0 9713.87 07:07:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213654.00,,,,,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,213655.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.50 3.48 12.89 3.91 3.94 0 15701.96 07:07:30 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,213656.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.890000 : 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,213657.00,,,,,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,213658.00,,,,,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,213659.00,,,,,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,213700.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.41 3.04 12.30 3.92 3.94 0 24525.08 07:07:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213701.00,,,,,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,213702.00,,,,,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,213703.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.39 2.67 11.81 3.84 3.96 0 9713.67 07:07:38 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,213704.00,,,,,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,213705.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.54 3.37 12.89 3.91 3.94 0 15701.57 07:07:40 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,213706.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.890000 : 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,213707.00,,,,,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,213708.00,,,,,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,213709.00,,,,,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,213710.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.37 2.92 12.30 3.92 3.94 0 24524.75 07:07:45 m : AshtechGps::processRecord() - $GPGGA,213711.00,,,,,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,213712.00,,,,,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,213713.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.39 2.75 11.81 3.84 3.96 0 9713.38 07:07:48 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,213714.00,,,,,0,00,,,M,,M,,*4A : 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,213715.00,,,,,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 : BluefinBatt Reply: $c0q0 d- 31.54 3.55 12.89 3.91 3.94 0 15701.31 07:07:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213716.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.890000 : 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,213717.00,,,,,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,213718.00,,,,,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,213719.00,,,,,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,213720.00,,,,,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: $aaq0 d- 31.33 3.63 12.20 3.92 3.94 0 24524.53 07:07:55 m : AshtechGps::processRecord() - $GPGGA,213721.00,,,,,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,213722.00,,,,,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,213723.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.39 2.82 11.81 3.84 3.96 0 9713.20 07:07:58 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,213724.00,,,,,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,213725.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.50 3.52 12.89 3.91 3.94 0 15700.91 07:08:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213726.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.890000 : 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,213727.00,,,,,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,213728.00,,,,,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,213729.00,,,,,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,213730.00,,,,,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: $aaq0 d- 31.37 3.19 12.20 3.91 3.94 0 24524.16 07:08:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213731.00,,,,,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,213732.00,,,,,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,213733.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.39 3.00 11.81 3.83 3.95 0 9712.90 07:08:08 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,213734.00,,,,,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,213735.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.50 3.84 12.89 3.91 3.94 0 15700.63 07:08:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213736.00,,,,,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 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.883333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213737.00,,,,,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,213738.00,,,,,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,213739.00,,,,,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,213740.00,,,,,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: $aaq0 d- 31.29 3.15 12.20 3.91 3.94 0 24523.92 07:08:15 m : AshtechGps::processRecord() - $GPGGA,213741.00,,,,,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,213742.00,,,,,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,213743.00,,,,,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- 31.39 2.86 11.81 3.83 3.95 0 9712.67 07:08:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213744.00,,,,,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,213745.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 4.16 12.89 3.90 3.94 0 15700.21 07:08:20 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,213746.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.880000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213747.00,,,,,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,213748.00,,,,,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,213749.00,,,,,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,213750.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.33 3.22 12.20 3.91 3.94 0 24523.56 07:08:25 m : AshtechGps::processRecord() - $GPGGA,213751.00,,,,,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,213752.00,,,,,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,213753.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.39 2.96 11.71 3.83 3.95 0 9712.35 07:08:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213754.00,,,,,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,213755.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 3.95 12.89 3.90 3.94 0 15699.93 07:08:30 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,213756.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.880000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213757.00,,,,,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,213758.00,,,,,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,213759.00,,,,,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,213800.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.29 3.30 12.20 3.91 3.94 0 24523.31 07:08:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213801.00,,,,,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,213802.00,,,,,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,213803.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.39 2.75 11.71 3.83 3.95 0 9712.15 07:08:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213804.00,,,,,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,213805.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.43 4.52 12.89 3.91 3.94 0 15699.52 07:08:40 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,213806.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.883333 : 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,213807.00,,,,,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,213808.00,,,,,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,213809.00,,,,,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,213810.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.37 3.07 12.20 3.91 3.94 0 24522.97 07:08:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213811.00,,,,,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,213812.00,,,,,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,213813.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.39 2.82 11.81 3.83 3.95 0 9711.84 07:08:48 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,213814.00,,,,,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,213815.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.50 3.70 12.98 3.91 3.94 0 15699.22 07:08:50 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,213816.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.883333 : 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,213817.00,,,,,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,213818.00,,,,,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,213819.00,,,,,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,213820.00,,,,,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: $aaq0 d- 31.37 3.07 12.30 3.91 3.94 0 24522.73 07:08:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213821.00,,,,,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,213822.00,,,,,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,213823.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.35 2.82 11.81 3.83 3.95 0 9711.63 07:08:58 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,213824.00,,,,,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,213825.00,,,,,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: $c0q0 d- 31.50 3.84 12.98 3.91 3.94 0 15698.80 07:09:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213826.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.883333 : 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,213827.00,,,,,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,213828.00,,,,,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,213829.00,,,,,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,213830.00,,,,,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: $aaq0 d- 31.37 3.00 12.30 3.91 3.94 0 24522.38 07:09:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213831.00,,,,,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,213832.00,,,,,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,213833.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.35 4.09 11.71 3.83 3.95 0 9711.32 07:09:08 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,213834.00,,,,,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,213835.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 3.95 12.89 3.91 3.94 0 15698.53 07:09:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213836.00,,,,,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 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.883333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213837.00,,,,,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,213838.00,,,,,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,213839.00,,,,,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,213840.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.33 3.04 12.30 3.91 3.94 0 24522.13 07:09:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213841.00,,,,,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,213842.00,,,,,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,213843.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.39 2.86 11.71 3.83 3.95 0 9711.12 07:09:18 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,213844.00,,,,,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,213845.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 3.73 12.98 3.91 3.94 0 15698.10 07:09:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213846.00,,,,,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 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.883333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213847.00,,,,,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,213848.00,,,,,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,213849.00,,,,,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,213850.00,,,,,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: $aaq0 d- 31.33 3.04 12.30 3.91 3.94 0 24521.78 07:09:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213851.00,,,,,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,213852.00,,,,,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,213853.00,,,,,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 : BluefinBatt Reply: $b6q0 d- 31.35 2.93 11.81 3.83 3.95 0 9710.82 07:09:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213854.00,,,,,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,213855.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.50 3.55 12.89 3.91 3.94 0 15697.82 07:09:30 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,213856.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.883333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213857.00,,,,,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,213858.00,,,,,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,213859.00,,,,,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,213900.00,,,,,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: $aaq0 d- 31.33 3.04 12.40 3.91 3.94 0 24521.54 07:09:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213901.00,,,,,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,213902.00,,,,,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,213903.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.35 3.00 11.81 3.83 3.95 0 9710.62 07:09:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213904.00,,,,,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,213905.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.50 3.59 12.89 3.91 3.94 0 15697.43 07:09:40 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,213906.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.883333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213907.00,,,,,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,213908.00,,,,,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,213909.00,,,,,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,213910.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.37 3.04 12.40 3.91 3.94 0 24521.19 07:09:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213911.00,,,,,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,213912.00,,,,,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,213913.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.32 3.29 11.81 3.84 3.96 0 9710.30 07:09:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213914.00,,,,,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,213915.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.50 3.70 12.89 3.91 3.94 0 15697.17 07:09:50 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,213916.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.886667 : 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,213917.00,,,,,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,213918.00,,,,,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,213919.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.812380 under allowable altitude 10.000000. Stopping! : resetting depth trajectory : DepthEnvelope -- Measured altitude 9.812380 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.812380 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213920.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.812380 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.812380 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.812380 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.812380 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.159555 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.37 3.15 12.40 3.91 3.94 0 24520.94 07:09:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213921.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.159555 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.159555 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.159555 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.159555 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.159555 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213922.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.159555 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.159555 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.792119 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.792119 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.792119 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213923.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.47 1.41 11.81 3.84 3.96 0 9710.07 07:09:58 m : DepthEnvelope -- Measured altitude 8.792119 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.792119 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.792119 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.792119 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.116879 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 : AshtechGps::processRecord() - $GPGGA,213924.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.116879 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.116879 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.116879 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.116879 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.116879 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213925.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.116879 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.62 1.32 12.98 3.92 3.96 0 15696.86 07:10:00 m : DepthEnvelope -- Measured altitude 7.329631 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.329631 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.329631 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.329631 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213926.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.329631 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.890000 : DepthEnvelope -- Measured altitude 7.329631 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.329631 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.329631 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.644839 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213927.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.644839 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.644839 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.644839 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.644839 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.644839 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213928.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.644839 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.280246 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.280246 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.280246 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.280246 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213929.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.280246 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.280246 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.280246 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.966804 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.966804 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213930.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.966804 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.966804 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.966804 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.966804 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.966804 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 : BluefinBatt Reply: $aaq0 d- 31.44 0.85 12.30 3.93 3.96 0 24520.76 07:10:05 m : AshtechGps::processRecord() - $GPGGA,213931.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.966804 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.966154 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.966154 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.966154 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.966154 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213932.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.966154 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.966154 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.966154 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.120627 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.120627 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213933.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.120627 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.47 1.30 11.81 3.85 3.97 0 9709.94 07:10:08 m : DepthEnvelope -- Measured altitude 6.120627 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.120627 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.120627 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.120627 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213934.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.120627 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.172298 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.172298 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.172298 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.172298 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213935.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.172298 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.172298 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.62 1.57 13.08 3.92 3.96 0 15696.75 07:10:10 m : DepthEnvelope -- Measured altitude 6.172298 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.529970 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.529970 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213936.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.529970 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.529970 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.900000 : DepthEnvelope -- Measured altitude 6.529970 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.529970 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.529970 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213937.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.715052 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.715052 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.715052 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.715052 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.715052 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 : AshtechGps::processRecord() - $GPGGA,213938.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.715052 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.715052 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.715052 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.118976 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.118976 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213939.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.118976 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.118976 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.118976 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.118976 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.118976 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213940.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.396768 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.396768 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.396768 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.396768 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.396768 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.37 1.33 12.40 3.93 3.96 0 24520.69 07:10:15 m : AshtechGps::processRecord() - $GPGGA,213941.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.396768 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.396768 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.465554 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.465554 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.465554 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213942.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.465554 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.465554 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.465554 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.465554 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.465554 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213943.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.720985 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.47 1.37 11.81 3.85 3.97 0 9709.86 07:10:18 m : DepthEnvelope -- Measured altitude 7.720985 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.720985 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.720985 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.720985 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213944.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.720985 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.720985 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.737066 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.737066 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.737066 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 : AshtechGps::processRecord() - $GPGGA,213945.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.737066 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.737066 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.62 1.29 12.98 3.92 3.96 0 15696.62 07:10:20 m : DepthEnvelope -- Measured altitude 7.737066 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.737066 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.891413 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213946.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.891413 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.891413 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 3.850000, mean min cell voltage 3.900000 : DepthEnvelope -- Measured altitude 7.891413 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.891413 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.891413 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213947.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.891413 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.891413 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.125353 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.125353 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.125353 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213948.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.125353 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.125353 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.125353 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.125353 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.327386 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213949.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.327386 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.327386 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.327386 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.327386 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.327386 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213950.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.327386 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.425767 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.425767 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.425767 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.425767 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.44 0.92 12.30 3.93 3.96 0 24520.59 07:10:25 m : AshtechGps::processRecord() - $GPGGA,213951.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.425767 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.425767 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.425767 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.425767 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.413184 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 : AshtechGps::processRecord() - $GPGGA,213952.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.413184 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.413184 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.413184 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.413184 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.413184 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213953.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.413184 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.51 1.15 11.81 3.85 3.97 0 9709.73 07:10:28 m : DepthEnvelope -- Measured altitude 8.365333 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.365333 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.365333 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.365333 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213954.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.365333 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.365333 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.365333 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.365333 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.263802 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213955.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.263802 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.62 1.68 12.98 3.92 3.96 0 15696.53 07:10:30 m : DepthEnvelope -- Measured altitude 8.263802 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.263802 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.263802 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.263802 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213956.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.263802 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 3.850000, mean min cell voltage 3.900000 : DepthEnvelope -- Measured altitude 8.338103 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.338103 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.338103 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.338103 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213957.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.338103 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.338103 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.338103 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.378256 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.378256 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,213958.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.378256 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.378256 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.378256 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.378256 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.378256 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 : AshtechGps::processRecord() - $GPGGA,213959.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.378256 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.459890 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.459890 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.459890 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.459890 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214000.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.459890 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.459890 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.459890 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.493755 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.493755 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.44 0.96 12.40 3.93 3.96 0 24520.52 07:10:35 m : AshtechGps::processRecord() - $GPGGA,214001.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.493755 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.493755 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.493755 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.493755 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.493755 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214002.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.640021 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.640021 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.640021 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.640021 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.640021 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214003.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.640021 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- 31.51 1.12 11.71 3.85 3.97 0 9709.66 07:10:38 m : DepthEnvelope -- Measured altitude 8.640021 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.640021 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.893146 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.893146 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214004.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.893146 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.893146 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.893146 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.893146 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.893146 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214005.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.137643 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.137643 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.62 1.25 12.98 3.92 3.96 0 15696.40 07:10:40 m : DepthEnvelope -- Measured altitude 9.137643 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.137643 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.137643 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 : AshtechGps::processRecord() - $GPGGA,214006.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.137643 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.137643 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.900000 : DepthEnvelope -- Measured altitude 9.254640 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.254640 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.254640 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214007.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.254640 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.254640 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.254640 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.254640 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.254640 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214008.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.468108 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.468108 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.468108 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.468108 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.468108 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214009.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.468108 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.468108 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.704934 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.704934 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.704934 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214010.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.704934 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.704934 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.704934 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.704934 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.892151 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.44 0.89 12.40 3.93 3.96 0 24520.42 07:10:45 m : AshtechGps::processRecord() - $GPGGA,214011.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.892151 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.892151 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.892151 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.892151 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.892151 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214012.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.892151 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.892151 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- altitude 10.243409 over abort altitude 10.000000, starting prop! : 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,214013.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.51 1.12 11.81 3.85 3.97 0 9709.54 07:10:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214014.00,,,,,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,214015.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 1.25 12.98 3.92 3.96 0 15696.31 07:10:50 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,214016.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.900000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214017.00,,,,,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,214018.00,,,,,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,214019.00,,,,,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,214020.00,,,,,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: $aaq0 d- 31.37 3.41 12.30 3.93 3.96 0 24520.31 07:10:55 m : AshtechGps::processRecord() - $GPGGA,214021.00,,,,,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,214022.00,,,,,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,214023.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.35 3.15 11.71 3.85 3.97 0 9709.38 07:10:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214024.00,,,,,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,214025.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.50 4.02 12.89 3.91 3.94 0 15695.92 07:11:00 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,214026.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.896667 : 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,214027.00,,,,,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,214028.00,,,,,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,214029.00,,,,,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,214030.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.29 4.12 12.30 3.91 3.94 0 24519.93 07:11:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214031.00,,,,,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,214032.00,,,,,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,214033.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.39 3.00 11.71 3.83 3.95 0 9709.06 07:11:08 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,214034.00,,,,,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,214035.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 3.91 12.98 3.91 3.94 0 15695.64 07:11:10 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,214036.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.883333 : 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,214037.00,,,,,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,214038.00,,,,,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,214039.00,,,,,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,214040.00,,,,,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: $aaq0 d- 31.29 3.85 12.30 3.91 3.94 0 24519.70 07:11:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214041.00,,,,,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,214042.00,,,,,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,214043.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.39 2.75 11.81 3.83 3.95 0 9708.87 07:11:18 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,214044.00,,,,,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,214045.00,,,,,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: $c0q0 d- 31.54 3.37 12.98 3.91 3.94 0 15695.25 07:11:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214046.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.883333 : 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,214047.00,,,,,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,214048.00,,,,,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,214049.00,,,,,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,214050.00,,,,,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: $aaq0 d- 31.33 3.22 12.30 3.92 3.94 0 24519.38 07:11:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214051.00,,,,,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,214052.00,,,,,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,214053.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.35 2.86 11.81 3.84 3.96 0 9708.60 07:11:28 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,214054.00,,,,,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,214055.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.54 3.23 12.89 3.91 3.94 0 15694.99 07:11:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214056.00,,,,,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 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.890000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214057.00,,,,,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,214058.00,,,,,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,214059.00,,,,,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,214100.00,,,,,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: $aaq0 d- 31.33 3.19 12.30 3.92 3.94 0 24519.17 07:11:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214101.00,,,,,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,214102.00,,,,,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,214103.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.39 2.78 11.81 3.84 3.96 0 9708.42 07:11:38 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,214104.00,,,,,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,214105.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.54 3.37 12.89 3.91 3.94 0 15694.62 07:11:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214106.00,,,,,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 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.890000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214107.00,,,,,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,214108.00,,,,,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,214109.00,,,,,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,214110.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.29 3.15 12.30 3.92 3.94 0 24518.85 07:11:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214111.00,,,,,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,214112.00,,,,,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,214113.00,,,,,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 : BluefinBatt Reply: $b6q0 d- 31.39 2.82 11.81 3.84 3.96 0 9708.11 07:11:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214114.00,,,,,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,214115.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.50 3.37 12.89 3.91 3.94 0 15694.37 07:11:50 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,214116.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.890000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214117.00,,,,,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,214118.00,,,,,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,214119.00,,,,,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,214120.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.33 3.04 12.30 3.92 3.94 0 24518.60 07:11:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214121.00,,,,,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,214122.00,,,,,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,214123.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.39 2.78 11.81 3.84 3.96 0 9707.94 07:11:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214124.00,,,,,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,214125.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 3.55 12.89 3.91 3.94 0 15693.96 07:12:00 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,214126.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.890000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214127.00,,,,,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,214128.00,,,,,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,214129.00,,,,,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,214130.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.33 3.33 12.20 3.92 3.94 0 24518.30 07:12:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214131.00,,,,,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,214132.00,,,,,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,214133.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.39 2.82 11.81 3.84 3.96 0 9707.68 07:12:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214134.00,,,,,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,214135.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.50 3.26 12.89 3.91 3.94 0 15693.70 07:12:10 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,214136.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.890000 : 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,214137.00,,,,,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,214138.00,,,,,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,214139.00,,,,,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,214140.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.29 3.22 12.30 3.92 3.94 0 24518.10 07:12:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214141.00,,,,,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,214142.00,,,,,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,214143.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.35 2.75 11.81 3.84 3.96 0 9707.51 07:12:18 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,214144.00,,,,,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,214145.00,,,,,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 : BluefinBatt Reply: $c0q0 d- 31.50 3.23 12.89 3.91 3.94 0 15693.34 07:12:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214146.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.890000 : 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,214147.00,,,,,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,214148.00,,,,,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,214149.00,,,,,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,214150.00,,,,,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: $aaq0 d- 31.29 3.48 12.20 3.92 3.94 0 24517.79 07:12:25 m : AshtechGps::processRecord() - $GPGGA,214151.00,,,,,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,214152.00,,,,,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,214153.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.35 2.93 11.81 3.84 3.96 0 9707.23 07:12:28 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,214154.00,,,,,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,214155.00,,,,,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: $c0q0 d- 31.50 3.37 12.89 3.91 3.94 0 15693.09 07:12:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214156.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.890000 : 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,214157.00,,,,,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,214158.00,,,,,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,214159.00,,,,,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,214200.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.29 3.44 12.10 3.92 3.94 0 24517.52 07:12:35 m : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214201.00,,,,,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,214202.00,,,,,0,00,,,M,,M,,*4F : 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 : AshtechGps::processRecord() - $GPGGA,214203.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.39 2.64 11.81 3.84 3.96 0 9707.05 07:12:38 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,214204.00,,,,,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,214205.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 3.66 12.89 3.90 3.94 0 15692.68 07:12:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214206.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.886667 : 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,214207.00,,,,,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,214208.00,,,,,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,214209.00,,,,,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,214210.00,,,,,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: $aaq0 d- 31.29 3.48 12.10 3.91 3.94 0 24517.19 07:12:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214211.00,,,,,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,214212.00,,,,,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,214213.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.35 2.89 11.71 3.83 3.96 0 9706.78 07:12:48 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,214214.00,,,,,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,214215.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 3.55 12.89 3.90 3.94 0 15692.42 07:12:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214216.00,,,,,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 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.880000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214217.00,,,,,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,214218.00,,,,,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,214219.00,,,,,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,214220.00,,,,,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: $aaq0 d- 31.29 3.82 12.10 3.91 3.94 0 24516.95 07:12:55 m : AshtechGps::processRecord() - $GPGGA,214221.00,,,,,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,214222.00,,,,,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,214223.00,,,,,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- 31.35 3.07 11.81 3.83 3.96 0 9706.60 07:12:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214224.00,,,,,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,214225.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.43 4.09 12.89 3.90 3.94 0 15691.98 07:13:00 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,214226.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.880000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214227.00,,,,,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,214228.00,,,,,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,214229.00,,,,,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,214230.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.29 3.56 12.20 3.91 3.94 0 24516.56 07:13:05 m : AshtechGps::processRecord() - $GPGGA,214231.00,,,,,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,214232.00,,,,,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,214233.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.35 3.07 11.71 3.83 3.95 0 9706.26 07:13:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214234.00,,,,,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,214235.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 3.59 12.89 3.90 3.94 0 15691.70 07:13:10 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,214236.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.880000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214237.00,,,,,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,214238.00,,,,,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,214239.00,,,,,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,214240.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.29 3.41 12.20 3.91 3.94 0 24516.32 07:13:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214241.00,,,,,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,214242.00,,,,,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,214243.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.32 3.18 11.71 3.83 3.95 0 9706.06 07:13:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214244.00,,,,,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,214245.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 3.52 12.89 3.91 3.94 0 15691.24 07:13:20 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,214246.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.883333 : 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,214247.00,,,,,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,214248.00,,,,,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,214249.00,,,,,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,214250.00,,,,,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: $aaq0 d- 31.25 3.52 12.30 3.91 3.94 0 24515.96 07:13:25 m : AshtechGps::processRecord() - $GPGGA,214251.00,,,,,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,214252.00,,,,,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,214253.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.39 2.64 11.71 3.83 3.95 0 9705.79 07:13:28 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,214254.00,,,,,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,214255.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 3.37 12.89 3.91 3.94 0 15690.97 07:13:30 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,214256.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.883333 : 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,214257.00,,,,,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,214258.00,,,,,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,214259.00,,,,,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,214300.00,,,,,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: $aaq0 d- 31.29 3.26 12.30 3.91 3.94 0 24515.75 07:13:35 m : AshtechGps::processRecord() - $GPGGA,214301.00,,,,,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,214302.00,,,,,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,214303.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.32 3.00 11.71 3.83 3.95 0 9705.60 07:13:38 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,214304.00,,,,,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,214305.00,,,,,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 : BluefinBatt Reply: $c0q0 d- 31.50 3.48 12.98 3.90 3.94 0 15690.59 07:13:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214306.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.880000 : 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,214307.00,,,,,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,214308.00,,,,,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,214309.00,,,,,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,214310.00,,,,,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: $aaq0 d- 31.29 4.23 12.30 3.91 3.94 0 24515.40 07:13:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214311.00,,,,,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,214312.00,,,,,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,214313.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.32 2.93 11.81 3.83 3.95 0 9705.31 07:13:48 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,214314.00,,,,,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,214315.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 3.77 12.98 3.90 3.94 0 15690.33 07:13:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214316.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.880000 : 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,214317.00,,,,,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,214318.00,,,,,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,214319.00,,,,,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,214320.00,,,,,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: $aaq0 d- 31.25 3.30 12.40 3.91 3.94 0 24515.16 07:13:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214321.00,,,,,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,214322.00,,,,,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,214323.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.35 2.86 11.71 3.83 3.95 0 9705.12 07:13:58 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,214324.00,,,,,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,214325.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 3.41 12.98 3.91 3.94 0 15689.92 07:14:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214326.00,,,,,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 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.883333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214327.00,,,,,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,214328.00,,,,,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,214329.00,,,,,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,214330.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.29 3.52 12.40 3.91 3.94 0 24514.82 07:14:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214331.00,,,,,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,214332.00,,,,,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,214333.00,,,,,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- 31.35 2.93 11.71 3.83 3.95 0 9704.84 07:14:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214334.00,,,,,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,214335.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 3.59 12.98 3.91 3.94 0 15689.66 07:14:10 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,214336.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.883333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214337.00,,,,,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,214338.00,,,,,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,214339.00,,,,,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,214340.00,,,,,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: $aaq0 d- 31.29 3.48 12.30 3.91 3.94 0 24514.59 07:14:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214341.00,,,,,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,214342.00,,,,,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,214343.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.35 2.86 11.71 3.83 3.95 0 9704.65 07:14:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214344.00,,,,,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,214345.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 3.55 12.98 3.90 3.94 0 15689.26 07:14:20 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,214346.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.880000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214347.00,,,,,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,214348.00,,,,,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,214349.00,,,,,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,214350.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.33 3.30 12.30 3.91 3.94 0 24514.24 07:14:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214351.00,,,,,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,214352.00,,,,,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,214353.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.35 3.00 11.81 3.83 3.95 0 9704.37 07:14:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214354.00,,,,,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,214355.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 3.70 12.98 3.90 3.94 0 15689.00 07:14:30 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,214356.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.880000 : 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,214357.00,,,,,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,214358.00,,,,,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,214359.00,,,,,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,214400.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.29 3.41 12.30 3.91 3.94 0 24514.01 07:14:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214401.00,,,,,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 : DepthEnvelope -- Measured altitude 9.407039 under allowable altitude 10.000000. Stopping! : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214402.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.407039 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.407039 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.407039 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.407039 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.407039 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214403.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.407039 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.35 2.93 11.81 3.83 3.95 0 9704.18 07:14:38 m : DepthEnvelope -- Measured altitude 9.407039 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.814186 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.814186 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.814186 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 : AshtechGps::processRecord() - $GPGGA,214404.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.814186 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.814186 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.814186 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.814186 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.317984 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214405.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.317984 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.58 1.83 12.98 3.91 3.94 0 15688.61 07:14:40 m : DepthEnvelope -- Measured altitude 8.317984 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.317984 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.317984 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.317984 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214406.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.317984 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.883333 : DepthEnvelope -- Measured altitude 7.750598 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.750598 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.750598 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.750598 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214407.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.750598 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.750598 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.750598 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.750598 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.979323 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214408.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.979323 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.979323 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.979323 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.979323 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.979323 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214409.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.979323 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.360892 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.360892 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.360892 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.360892 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214410.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.360892 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.360892 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.360892 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.853390 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.853390 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: $aaq0 d- 31.37 0.92 12.30 3.92 3.95 0 24513.81 07:14:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214411.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.853390 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.853390 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.853390 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.853390 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.853390 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214412.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.853390 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.453727 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.453727 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.453727 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.453727 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214413.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.47 1.08 11.81 3.83 3.95 0 9704.01 07:14:48 m : DepthEnvelope -- Measured altitude 5.453727 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.453727 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.453727 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.494136 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.494136 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214414.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.494136 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.494136 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.494136 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.494136 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.494136 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214415.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.541178 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- 31.58 1.47 13.08 3.91 3.94 0 15688.52 07:14:50 m : DepthEnvelope -- Measured altitude 5.541178 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.541178 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.541178 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.541178 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214416.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.541178 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.886667 : DepthEnvelope -- Measured altitude 5.541178 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.541178 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.738151 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.738151 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214417.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.738151 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.738151 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.738151 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.738151 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.738151 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 : AshtechGps::processRecord() - $GPGGA,214418.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.999513 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.999513 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.999513 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.999513 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.999513 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214419.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.999513 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.999513 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.431184 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.431184 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.431184 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214420.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.431184 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.431184 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.431184 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.431184 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.431184 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.41 1.33 12.40 3.92 3.95 0 24513.73 07:14:55 m : AshtechGps::processRecord() - $GPGGA,214421.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.637935 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.637935 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.637935 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.637935 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.637935 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214422.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.637935 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.637935 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.893337 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.893337 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.893337 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214423.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.893337 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.47 1.77 11.81 3.83 3.95 0 9703.92 07:14:58 m : DepthEnvelope -- Measured altitude 6.893337 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.893337 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.893337 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.108178 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214424.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.108178 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.108178 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.108178 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.108178 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.108178 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 : AshtechGps::processRecord() - $GPGGA,214425.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.108178 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.58 1.36 12.98 3.92 3.96 0 15688.38 07:15:00 m : DepthEnvelope -- Measured altitude 7.108178 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.255976 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.255976 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.255976 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214426.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.255976 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.890000 : DepthEnvelope -- Measured altitude 7.255976 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.255976 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.255976 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.466113 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214427.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.466113 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.466113 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.466113 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.466113 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.466113 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214428.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.466113 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.514192 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.514192 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.514192 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.514192 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214429.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.514192 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.514192 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.514192 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.514192 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.833291 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214430.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.833291 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.833291 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.833291 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.833291 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.833291 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.37 0.81 12.40 3.92 3.95 0 24513.64 07:15:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214431.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.833291 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.854729 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.854729 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.854729 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.854729 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 : AshtechGps::processRecord() - $GPGGA,214432.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.854729 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.854729 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.854729 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.854729 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.915197 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214433.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.51 1.12 11.81 3.85 3.97 0 9703.80 07:15:08 m : DepthEnvelope -- Measured altitude 7.915197 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.915197 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.915197 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.915197 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.915197 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214434.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.915197 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.177444 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.177444 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.177444 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.177444 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214435.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.177444 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.58 1.32 12.89 3.92 3.96 0 15688.30 07:15:10 m : DepthEnvelope -- Measured altitude 8.177444 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.177444 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.988161 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.988161 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214436.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.988161 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 3.850000, mean min cell voltage 3.896667 : DepthEnvelope -- Measured altitude 7.988161 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.988161 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.988161 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.988161 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214437.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.988161 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.893705 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.893705 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.893705 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.893705 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214438.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.893705 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.893705 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.893705 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.961220 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.961220 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 : AshtechGps::processRecord() - $GPGGA,214439.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.961220 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.961220 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.961220 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.961220 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.961220 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214440.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.979918 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.979918 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.979918 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.979918 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.979918 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.44 0.96 12.40 3.92 3.95 0 24513.57 07:15:15 m : AshtechGps::processRecord() - $GPGGA,214441.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.979918 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.979918 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.979918 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.969056 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.969056 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214442.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.969056 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.969056 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.969056 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.969056 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.969056 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214443.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.104166 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- 31.51 1.08 11.81 3.85 3.97 0 9703.72 07:15:18 m : DepthEnvelope -- Measured altitude 8.104166 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.104166 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.104166 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.104166 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214444.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.104166 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.104166 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.301335 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.301335 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.301335 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214445.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.301335 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.301335 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.58 1.21 12.89 3.92 3.96 0 15688.17 07:15:20 m : DepthEnvelope -- Measured altitude 8.301335 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.301335 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.301335 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 : AshtechGps::processRecord() - $GPGGA,214446.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.472684 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.472684 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.896667 : DepthEnvelope -- Measured altitude 8.472684 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.472684 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.472684 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214447.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.472684 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.472684 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.754308 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.754308 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.754308 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214448.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.754308 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.754308 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.754308 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.754308 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.960812 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214449.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.960812 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.960812 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.960812 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.960812 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.960812 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214450.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.960812 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.960812 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.244956 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.244956 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.244956 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.44 0.89 12.30 3.93 3.96 0 24513.47 07:15:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214451.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.244956 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.244956 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.244956 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.244956 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.321117 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214452.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.321117 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.321117 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.321117 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.321117 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.321117 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 : AshtechGps::processRecord() - $GPGGA,214453.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.51 1.05 11.71 3.85 3.97 0 9703.60 07:15:28 m : DepthEnvelope -- Measured altitude 9.321117 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.321117 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.589970 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.589970 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.589970 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214454.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.589970 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.589970 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.589970 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.589970 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.780515 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214455.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.780515 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.58 1.25 12.89 3.92 3.96 0 15688.08 07:15:30 m : DepthEnvelope -- Measured altitude 9.780515 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.780515 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.780515 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.780515 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214456.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.780515 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.900000 : DepthEnvelope -- Measured altitude 9.936916 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.936916 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.936916 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.936916 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214457.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.936916 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.936916 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.936916 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.936916 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- altitude 10.146032 over abort altitude 10.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214458.00,,,,,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,214459.00,,,,,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,214500.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.44 0.81 12.30 3.93 3.96 0 24513.41 07:15:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214501.00,,,,,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,214502.00,,,,,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,214503.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.43 2.24 11.71 3.85 3.97 0 9703.53 07:15:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214504.00,,,,,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,214505.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.50 3.62 12.89 3.91 3.94 0 15687.88 07:15:40 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,214506.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.896667 : 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,214507.00,,,,,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,214508.00,,,,,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,214509.00,,,,,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,214510.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.33 3.48 12.30 3.91 3.94 0 24513.13 07:15:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214511.00,,,,,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,214512.00,,,,,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,214513.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.35 3.07 11.71 3.84 3.96 0 9703.21 07:15:48 m : DepthEnvelope -- Measured altitude 9.774880 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 : AshtechGps::processRecord() - $GPGGA,214514.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.774880 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.774880 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.774880 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.774880 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.774880 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214515.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.774880 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.46 4.27 12.89 3.91 3.94 0 15687.59 07:15:50 m : DepthEnvelope -- Measured altitude 9.774880 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 10.184926 over abort altitude 10.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214516.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.886667 : 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,214517.00,,,,,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,214518.00,,,,,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,214519.00,,,,,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,214520.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.33 2.63 12.40 3.91 3.94 0 24512.90 07:15:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214521.00,,,,,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,214522.00,,,,,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,214523.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.39 2.82 11.71 3.84 3.96 0 9703.02 07:15:58 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,214524.00,,,,,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,214525.00,,,,,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 : BluefinBatt Reply: $c0q0 d- 31.50 3.62 12.89 3.91 3.94 0 15687.21 07:16:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214526.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.886667 : 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,214527.00,,,,,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,214528.00,,,,,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,214529.00,,,,,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,214530.00,,,,,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: $aaq0 d- 31.33 3.15 12.40 3.91 3.94 0 24512.55 07:16:05 m : AshtechGps::processRecord() - $GPGGA,214531.00,,,,,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,214532.00,,,,,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,214533.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.35 2.78 11.81 3.83 3.95 0 9702.69 07:16:08 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,214534.00,,,,,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,214535.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.50 3.80 12.89 3.91 3.94 0 15686.93 07:16:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214536.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.883333 : 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,214537.00,,,,,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,214538.00,,,,,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,214539.00,,,,,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,214540.00,,,,,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: $aaq0 d- 31.29 3.07 12.30 3.91 3.94 0 24512.32 07:16:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214541.00,,,,,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,214542.00,,,,,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,214543.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.35 2.86 11.81 3.83 3.95 0 9702.48 07:16:18 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,214544.00,,,,,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,214545.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.43 4.70 12.89 3.91 3.94 0 15686.54 07:16:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214546.00,,,,,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 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.883333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214547.00,,,,,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,214548.00,,,,,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,214549.00,,,,,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,214550.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.33 2.70 12.30 3.91 3.94 0 24511.99 07:16:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214551.00,,,,,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,214552.00,,,,,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,214553.00,,,,,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 : BluefinBatt Reply: $b6q0 d- 31.35 2.60 11.81 3.83 3.95 0 9702.19 07:16:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214554.00,,,,,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,214555.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 3.59 12.89 3.91 3.94 0 15686.29 07:16:30 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,214556.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.883333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214557.00,,,,,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,214558.00,,,,,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,214559.00,,,,,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,214600.00,,,,,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: $aaq0 d- 31.33 2.74 12.30 3.91 3.94 0 24511.78 07:16:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214601.00,,,,,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,214602.00,,,,,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,214603.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.35 2.75 11.81 3.83 3.95 0 9702.00 07:16:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214604.00,,,,,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,214605.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.50 3.30 12.89 3.91 3.94 0 15685.92 07:16:40 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,214606.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.883333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214607.00,,,,,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,214608.00,,,,,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,214609.00,,,,,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,214610.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.29 2.78 12.30 3.91 3.94 0 24511.44 07:16:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214611.00,,,,,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,214612.00,,,,,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,214613.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.35 2.78 11.81 3.83 3.95 0 9701.73 07:16:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214614.00,,,,,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,214615.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 3.37 12.89 3.91 3.94 0 15685.69 07:16:50 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,214616.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.883333 : 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,214617.00,,,,,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,214618.00,,,,,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,214619.00,,,,,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,214620.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.29 3.22 12.20 3.91 3.94 0 24511.22 07:16:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214621.00,,,,,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,214622.00,,,,,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,214623.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.35 2.93 11.81 3.83 3.95 0 9701.53 07:16:58 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,214624.00,,,,,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,214625.00,,,,,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: $c0q0 d- 31.46 3.44 12.89 3.91 3.94 0 15685.28 07:17:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214626.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.883333 : 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,214627.00,,,,,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,214628.00,,,,,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,214629.00,,,,,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,214630.00,,,,,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: $aaq0 d- 31.25 3.56 12.20 3.91 3.94 0 24510.89 07:17:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214631.00,,,,,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,214632.00,,,,,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,214633.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.35 2.86 11.71 3.83 3.95 0 9701.23 07:17:08 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,214634.00,,,,,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,214635.00,,,,,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 : BluefinBatt Reply: $c0q0 d- 31.46 3.59 12.89 3.91 3.94 0 15685.03 07:17:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214636.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.883333 : 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,214637.00,,,,,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,214638.00,,,,,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,214639.00,,,,,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,214640.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.29 2.92 12.20 3.91 3.94 0 24510.67 07:17:15 m : AshtechGps::processRecord() - $GPGGA,214641.00,,,,,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,214642.00,,,,,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,214643.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.35 2.78 11.81 3.83 3.95 0 9701.04 07:17:18 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,214644.00,,,,,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,214645.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 3.52 12.89 3.90 3.94 0 15684.64 07:17:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214646.00,,,,,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 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.880000 : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214647.00,,,,,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,214648.00,,,,,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,214649.00,,,,,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,214650.00,,,,,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: $aaq0 d- 31.29 3.11 12.20 3.91 3.94 0 24510.28 07:17:25 m : AshtechGps::processRecord() - $GPGGA,214651.00,,,,,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,214652.00,,,,,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,214653.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.32 2.82 11.81 3.83 3.95 0 9700.75 07:17:28 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,214654.00,,,,,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,214655.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 3.88 12.89 3.90 3.94 0 15684.32 07:17:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214656.00,,,,,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 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.880000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214657.00,,,,,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,214658.00,,,,,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,214659.00,,,,,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,214700.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.29 3.11 12.10 3.91 3.94 0 24510.05 07:17:35 m : AshtechGps::processRecord() - $GPGGA,214701.00,,,,,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,214702.00,,,,,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,214703.00,,,,,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 : BluefinBatt Reply: $b6q0 d- 31.32 2.96 11.71 3.83 3.95 0 9700.53 07:17:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214704.00,,,,,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,214705.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 3.80 12.89 3.90 3.94 0 15683.93 07:17:40 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,214706.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.880000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214707.00,,,,,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,214708.00,,,,,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,214709.00,,,,,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,214710.00,,,,,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: $aaq0 d- 31.29 3.22 12.10 3.91 3.94 0 24509.67 07:17:45 m : AshtechGps::processRecord() - $GPGGA,214711.00,,,,,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,214712.00,,,,,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,214713.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.32 3.00 11.71 3.83 3.95 0 9700.23 07:17:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214714.00,,,,,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,214715.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.43 3.84 12.79 3.90 3.94 0 15683.67 07:17:50 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,214716.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.880000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214717.00,,,,,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,214718.00,,,,,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,214719.00,,,,,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,214720.00,,,,,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: $aaq0 d- 31.29 3.59 12.10 3.91 3.94 0 24509.44 07:17:55 m : AshtechGps::processRecord() - $GPGGA,214721.00,,,,,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 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214722.00,,,,,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,214723.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.32 3.29 11.71 3.83 3.95 0 9700.03 07:17:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214724.00,,,,,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,214725.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.43 5.24 12.89 3.90 3.94 0 15683.24 07:18:00 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,214726.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.880000 : 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,214727.00,,,,,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,214728.00,,,,,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,214729.00,,,,,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,214730.00,,,,,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: $aaq0 d- 31.29 3.07 12.10 3.91 3.93 0 24509.05 07:18:05 m : AshtechGps::processRecord() - $GPGGA,214731.00,,,,,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,214732.00,,,,,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,214733.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.32 2.89 11.71 3.83 3.94 0 9699.70 07:18:08 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,214734.00,,,,,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,214735.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 3.88 12.89 3.90 3.94 0 15682.95 07:18:10 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,214736.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.880000 : 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,214737.00,,,,,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,214738.00,,,,,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,214739.00,,,,,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,214740.00,,,,,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: $aaq0 d- 31.29 3.04 12.20 3.91 3.93 0 24508.82 07:18:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214741.00,,,,,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,214742.00,,,,,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,214743.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.35 2.82 11.71 3.83 3.94 0 9699.50 07:18:18 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,214744.00,,,,,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,214745.00,,,,,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 : BluefinBatt Reply: $c0q0 d- 31.46 3.88 12.98 3.90 3.94 0 15682.54 07:18:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214746.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.880000 : 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,214747.00,,,,,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,214748.00,,,,,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,214749.00,,,,,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,214750.00,,,,,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: $aaq0 d- 31.29 3.44 12.30 3.91 3.94 0 24508.48 07:18:25 m : AshtechGps::processRecord() - $GPGGA,214751.00,,,,,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,214752.00,,,,,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,214753.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.32 2.93 11.71 3.82 3.94 0 9699.19 07:18:28 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,214754.00,,,,,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,214755.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.43 4.63 12.89 3.90 3.94 0 15682.27 07:18:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214756.00,,,,,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 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.876667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214757.00,,,,,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,214758.00,,,,,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,214759.00,,,,,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,214800.00,,,,,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: $aaq0 d- 31.29 3.15 12.30 3.91 3.94 0 24508.24 07:18:35 m : AshtechGps::processRecord() - $GPGGA,214801.00,,,,,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,214802.00,,,,,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,214803.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.32 2.93 11.71 3.82 3.94 0 9698.99 07:18:38 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,214804.00,,,,,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,214805.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 3.73 12.89 3.90 3.94 0 15681.87 07:18:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214806.00,,,,,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 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.876667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214807.00,,,,,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,214808.00,,,,,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,214809.00,,,,,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,214810.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.25 3.22 12.30 3.91 3.94 0 24507.89 07:18:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214811.00,,,,,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,214812.00,,,,,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,214813.00,,,,,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- 31.32 2.96 11.71 3.83 3.94 0 9698.68 07:18:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214814.00,,,,,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,214815.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.39 4.27 12.89 3.90 3.94 0 15681.61 07:18:50 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,214816.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.880000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214817.00,,,,,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,214818.00,,,,,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,214819.00,,,,,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,214820.00,,,,,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: $aaq0 d- 31.29 3.11 12.30 3.91 3.94 0 24507.66 07:18:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214821.00,,,,,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,214822.00,,,,,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,214823.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.32 2.75 11.71 3.83 3.94 0 9698.47 07:18:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214824.00,,,,,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,214825.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 4.02 12.98 3.90 3.94 0 15681.19 07:19:00 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,214826.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.880000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214827.00,,,,,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,214828.00,,,,,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,214829.00,,,,,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,214830.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.29 3.11 12.30 3.91 3.94 0 24507.29 07:19:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214831.00,,,,,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,214832.00,,,,,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,214833.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.32 2.82 11.71 3.83 3.94 0 9698.16 07:19:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214834.00,,,,,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,214835.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 3.55 12.98 3.90 3.94 0 15680.91 07:19:10 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,214836.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.880000 : 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,214837.00,,,,,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,214838.00,,,,,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,214839.00,,,,,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,214840.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.29 3.07 12.30 3.91 3.94 0 24507.06 07:19:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214841.00,,,,,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,214842.00,,,,,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,214843.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.32 3.00 11.71 3.83 3.94 0 9697.95 07:19:18 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,214844.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.389555 under allowable altitude 10.000000. Stopping! : resetting depth trajectory : DepthEnvelope -- Measured altitude 9.389555 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.389555 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.389555 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.389555 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214845.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.389555 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.43 3.59 12.98 3.90 3.94 0 15680.52 07:19:20 m : DepthEnvelope -- Measured altitude 9.389555 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.974456 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.974456 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.974456 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214846.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.974456 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.880000 : DepthEnvelope -- Measured altitude 8.974456 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.974456 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.974456 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.357171 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214847.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.357171 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.357171 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.357171 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.357171 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.357171 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214848.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.357171 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.357171 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.940572 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.940572 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.940572 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214849.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.940572 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.940572 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.940572 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.940572 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.202546 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214850.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.202546 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.202546 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.202546 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.202546 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.202546 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: $aaq0 d- 31.37 0.85 12.30 3.91 3.94 0 24506.80 07:19:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214851.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.202546 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.469751 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.469751 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.469751 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.469751 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214852.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.469751 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.469751 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.469751 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.469751 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.864348 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214853.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.864348 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.43 1.26 11.71 3.83 3.95 0 9697.75 07:19:28 m : DepthEnvelope -- Measured altitude 5.864348 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.864348 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.864348 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.864348 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214854.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.864348 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.544426 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.544426 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.544426 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.544426 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214855.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.544426 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- 31.58 1.21 12.98 3.90 3.94 0 15680.44 07:19:30 m : DepthEnvelope -- Measured altitude 5.544426 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.544426 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.544426 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.272903 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214856.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.272903 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.880000 : DepthEnvelope -- Measured altitude 5.272903 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.272903 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.272903 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.272903 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214857.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.272903 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.189621 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.189621 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.189621 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.189621 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 : AshtechGps::processRecord() - $GPGGA,214858.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.189621 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.189621 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.189621 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.357026 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.357026 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214859.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.357026 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.357026 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.357026 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.357026 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.357026 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214900.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.357026 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.539869 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.539869 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.539869 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.539869 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.41 1.41 12.30 3.91 3.94 0 24506.73 07:19:35 m : AshtechGps::processRecord() - $GPGGA,214901.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.539869 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.539869 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.539869 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.709455 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.709455 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214902.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.709455 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.709455 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.709455 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.709455 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.709455 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214903.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.921768 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.43 1.08 11.81 3.83 3.95 0 9697.67 07:19:38 m : DepthEnvelope -- Measured altitude 5.921768 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.921768 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 5.921768 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.921768 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214904.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.921768 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.921768 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.921768 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.200429 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.200429 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 : AshtechGps::processRecord() - $GPGGA,214905.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.200429 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.58 1.83 12.98 3.92 3.95 0 15680.30 07:19:40 m : DepthEnvelope -- Measured altitude 6.200429 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.200429 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.200429 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.200429 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214906.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.290107 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.886667 : DepthEnvelope -- Measured altitude 6.290107 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.290107 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.290107 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.290107 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214907.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.290107 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.290107 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.431056 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.431056 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.431056 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214908.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.431056 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.431056 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.431056 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.431056 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.431056 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214909.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.550509 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.550509 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.550509 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.550509 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.550509 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214910.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.550509 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.550509 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.779670 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.779670 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.779670 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.41 0.96 12.40 3.92 3.95 0 24506.61 07:19:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214911.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.779670 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.779670 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.779670 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.779670 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.056190 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 : AshtechGps::processRecord() - $GPGGA,214912.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.056190 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.056190 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.056190 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.056190 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.056190 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214913.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.47 1.23 11.81 3.85 3.96 0 9697.53 07:19:48 m : DepthEnvelope -- Measured altitude 7.056190 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.056190 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.108274 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.108274 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.108274 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214914.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.108274 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.108274 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.108274 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.108274 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.263646 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214915.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.263646 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.58 1.21 12.89 3.92 3.95 0 15680.20 07:19:50 m : DepthEnvelope -- Measured altitude 7.263646 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.263646 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.263646 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.263646 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214916.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.263646 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 3.850000, mean min cell voltage 3.896667 : DepthEnvelope -- Measured altitude 7.263646 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.324148 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.324148 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.324148 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214917.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.324148 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.324148 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.324148 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.324148 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.337131 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214918.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.337131 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.337131 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.337131 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.337131 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.337131 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 : AshtechGps::processRecord() - $GPGGA,214919.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.337131 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.281344 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.281344 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.281344 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.281344 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214920.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.281344 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.281344 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.281344 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.281344 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.161467 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.41 0.92 12.40 3.92 3.95 0 24506.51 07:19:55 m : AshtechGps::processRecord() - $GPGGA,214921.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.161467 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.161467 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.161467 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.161467 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.161467 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214922.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.161467 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.206083 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.206083 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.206083 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.206083 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214923.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.206083 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- 31.47 1.12 11.81 3.85 3.96 0 9697.45 07:19:58 m : DepthEnvelope -- Measured altitude 7.206083 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.206083 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.218226 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.218226 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214924.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.218226 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.218226 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.218226 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.218226 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.218226 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214925.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.218226 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.58 1.29 12.89 3.92 3.95 0 15680.07 07:20:00 m : DepthEnvelope -- Measured altitude 7.340935 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.340935 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.340935 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.340935 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 : AshtechGps::processRecord() - $GPGGA,214926.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.340935 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.896667 : DepthEnvelope -- Measured altitude 7.340935 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.340935 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.395636 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.395636 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214927.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.395636 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.395636 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.395636 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.395636 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.395636 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214928.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.540580 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.540580 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.540580 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.540580 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.540580 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214929.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.540580 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.540580 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.540580 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.891048 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.891048 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214930.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.891048 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.891048 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.891048 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.891048 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.891048 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.41 0.92 12.30 3.92 3.95 0 24506.41 07:20:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214931.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.098794 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.098794 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.098794 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.098794 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.098794 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214932.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.098794 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.098794 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.340484 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.340484 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.340484 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 : AshtechGps::processRecord() - $GPGGA,214933.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.340484 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.47 1.05 11.71 3.85 3.96 0 9697.32 07:20:08 m : DepthEnvelope -- Measured altitude 8.340484 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.340484 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.340484 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.340484 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214934.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.582783 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.582783 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.582783 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.582783 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.582783 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214935.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.582783 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.58 1.76 12.89 3.92 3.95 0 15679.98 07:20:10 m : DepthEnvelope -- Measured altitude 8.582783 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.638760 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.638760 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.638760 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214936.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.638760 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.896667 : DepthEnvelope -- Measured altitude 8.638760 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.638760 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.638760 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.895281 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214937.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.895281 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.895281 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.895281 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.895281 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.895281 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214938.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.895281 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.895281 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.142191 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.142191 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.142191 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214939.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.142191 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.142191 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.142191 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.142191 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.299849 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 : AshtechGps::processRecord() - $GPGGA,214940.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.299849 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.299849 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.299849 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.299849 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.299849 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.41 1.18 12.40 3.92 3.95 0 24506.35 07:20:15 m : AshtechGps::processRecord() - $GPGGA,214941.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.299849 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.299849 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.225383 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.225383 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.225383 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214942.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.225383 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.225383 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.225383 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.225383 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.508753 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214943.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.508753 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.47 1.12 11.71 3.85 3.96 0 9697.24 07:20:18 m : DepthEnvelope -- Measured altitude 9.508753 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.508753 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.508753 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.508753 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214944.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.508753 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.487064 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.487064 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.487064 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.487064 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214945.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.487064 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.58 1.47 12.89 3.92 3.95 0 15679.85 07:20:20 m : DepthEnvelope -- Measured altitude 9.487064 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.487064 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.487064 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.739417 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214946.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.739417 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.896667 : DepthEnvelope -- Measured altitude 9.739417 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.739417 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.739417 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.739417 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 : AshtechGps::processRecord() - $GPGGA,214947.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.739417 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- altitude 10.010242 over abort altitude 10.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214948.00,,,,,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,214949.00,,,,,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,214950.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.41 1.66 12.30 3.92 3.95 0 24506.24 07:20:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214951.00,,,,,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,214952.00,,,,,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,214953.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.39 2.53 11.71 3.85 3.96 0 9697.08 07:20:28 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,214954.00,,,,,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,214955.00,,,,,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: $c0q0 d- 31.46 3.77 12.89 3.92 3.95 0 15679.70 07:20:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,214956.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.896667 : 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,214957.00,,,,,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,214958.00,,,,,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,214959.00,,,,,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,215000.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.25 3.56 12.30 3.92 3.95 0 24506.01 07:20:35 m : AshtechGps::processRecord() - $GPGGA,215001.00,,,,,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,215002.00,,,,,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,215003.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.32 3.18 11.71 3.85 3.96 0 9696.86 07:20:38 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,215004.00,,,,,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,215005.00,,,,,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: $c0q0 d- 31.43 4.09 12.89 3.90 3.94 0 15679.27 07:20:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215006.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.890000 : 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,215007.00,,,,,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,215008.00,,,,,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,215009.00,,,,,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,215010.00,,,,,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: $aaq0 d- 31.29 3.04 12.30 3.91 3.94 0 24505.62 07:20:45 m : AshtechGps::processRecord() - $GPGGA,215011.00,,,,,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,215012.00,,,,,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,215013.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.32 2.82 11.71 3.83 3.94 0 9696.54 07:20:48 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,215014.00,,,,,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,215015.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 3.70 12.89 3.90 3.94 0 15678.98 07:20:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215016.00,,,,,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 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.880000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215017.00,,,,,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,215018.00,,,,,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,215019.00,,,,,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,215020.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.33 2.89 12.30 3.91 3.94 0 24505.39 07:20:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215021.00,,,,,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,215022.00,,,,,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,215023.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.35 3.69 11.71 3.83 3.94 0 9696.34 07:20:58 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,215024.00,,,,,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,215025.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 3.73 12.89 3.90 3.94 0 15678.58 07:21:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215026.00,,,,,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 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.880000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215027.00,,,,,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,215028.00,,,,,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,215029.00,,,,,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,215030.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.29 2.67 12.30 3.91 3.94 0 24505.06 07:21:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215031.00,,,,,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,215032.00,,,,,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,215033.00,,,,,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- 31.35 2.82 11.81 3.83 3.95 0 9696.06 07:21:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215034.00,,,,,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,215035.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 3.52 12.89 3.90 3.94 0 15678.31 07:21:10 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,215036.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.880000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215037.00,,,,,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,215038.00,,,,,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,215039.00,,,,,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,215040.00,,,,,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: $aaq0 d- 31.29 2.67 12.30 3.91 3.94 0 24504.84 07:21:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215041.00,,,,,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,215042.00,,,,,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,215043.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.35 2.75 11.71 3.83 3.95 0 9695.86 07:21:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215044.00,,,,,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,215045.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 3.34 12.89 3.91 3.94 0 15677.94 07:21:20 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,215046.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.883333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215047.00,,,,,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,215048.00,,,,,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,215049.00,,,,,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,215050.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.33 2.89 12.30 3.91 3.94 0 24504.52 07:21:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215051.00,,,,,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,215052.00,,,,,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,215053.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.32 2.82 11.81 3.83 3.95 0 9695.57 07:21:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215054.00,,,,,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,215055.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 3.52 12.89 3.91 3.94 0 15677.68 07:21:30 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,215056.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.883333 : 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,215057.00,,,,,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,215058.00,,,,,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,215059.00,,,,,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,215100.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.33 2.74 12.30 3.91 3.94 0 24504.30 07:21:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215101.00,,,,,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,215102.00,,,,,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,215103.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.32 2.89 11.81 3.83 3.95 0 9695.39 07:21:38 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,215104.00,,,,,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,215105.00,,,,,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: $c0q0 d- 31.46 3.55 12.89 3.90 3.94 0 15677.29 07:21:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215106.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.880000 : 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,215107.00,,,,,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,215108.00,,,,,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,215109.00,,,,,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,215110.00,,,,,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: $aaq0 d- 31.29 2.78 12.20 3.91 3.94 0 24503.97 07:21:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215111.00,,,,,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,215112.00,,,,,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,215113.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.32 2.96 11.81 3.83 3.95 0 9695.10 07:21:48 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,215114.00,,,,,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,215115.00,,,,,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: $c0q0 d- 31.46 3.59 12.89 3.90 3.94 0 15677.05 07:21:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215116.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.880000 : 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,215117.00,,,,,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,215118.00,,,,,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,215119.00,,,,,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,215120.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.29 2.89 12.20 3.91 3.94 0 24503.74 07:21:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215121.00,,,,,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,215122.00,,,,,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,215123.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.35 2.64 11.81 3.83 3.95 0 9694.91 07:21:58 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,215124.00,,,,,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,215125.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 3.48 12.89 3.90 3.94 0 15676.67 07:22:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215126.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.880000 : 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,215127.00,,,,,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 : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215128.00,,,,,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,215129.00,,,,,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,215130.00,,,,,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: $aaq0 d- 31.29 2.89 12.20 3.91 3.94 0 24503.42 07:22:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215131.00,,,,,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,215132.00,,,,,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,215133.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.32 2.75 11.81 3.83 3.95 0 9694.62 07:22:08 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,215134.00,,,,,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,215135.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.43 3.66 12.79 3.90 3.94 0 15676.40 07:22:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215136.00,,,,,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 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.880000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215137.00,,,,,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,215138.00,,,,,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,215139.00,,,,,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,215140.00,,,,,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: $aaq0 d- 31.25 3.07 12.10 3.91 3.94 0 24503.20 07:22:15 m : AshtechGps::processRecord() - $GPGGA,215141.00,,,,,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,215142.00,,,,,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,215143.00,,,,,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- 31.28 3.22 11.71 3.83 3.95 0 9694.42 07:22:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215144.00,,,,,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,215145.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.43 3.66 12.79 3.90 3.94 0 15675.98 07:22:20 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,215146.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.880000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215147.00,,,,,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,215148.00,,,,,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,215149.00,,,,,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,215150.00,,,,,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: $aaq0 d- 31.25 3.15 12.10 3.91 3.94 0 24502.84 07:22:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215151.00,,,,,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,215152.00,,,,,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,215153.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.28 3.00 11.71 3.83 3.94 0 9694.07 07:22:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215154.00,,,,,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,215155.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.43 3.59 12.89 3.90 3.94 0 15675.71 07:22:30 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,215156.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.880000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215157.00,,,,,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,215158.00,,,,,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,215159.00,,,,,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,215200.00,,,,,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: $aaq0 d- 31.29 3.07 12.20 3.91 3.94 0 24502.59 07:22:35 m : AshtechGps::processRecord() - $GPGGA,215201.00,,,,,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,215202.00,,,,,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,215203.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.32 3.04 11.71 3.83 3.94 0 9693.83 07:22:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215204.00,,,,,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,215205.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.43 3.88 12.89 3.90 3.94 0 15675.27 07:22:40 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,215206.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.880000 : 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,215207.00,,,,,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,215208.00,,,,,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,215209.00,,,,,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,215210.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.29 3.11 12.20 3.91 3.94 0 24502.23 07:22:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215211.00,,,,,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,215212.00,,,,,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,215213.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.32 2.93 11.62 3.83 3.94 0 9693.52 07:22:48 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,215214.00,,,,,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,215215.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.43 3.73 12.89 3.90 3.94 0 15674.99 07:22:50 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,215216.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.880000 : 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,215217.00,,,,,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,215218.00,,,,,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,215219.00,,,,,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,215220.00,,,,,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: $aaq0 d- 31.25 3.11 12.20 3.91 3.94 0 24501.99 07:22:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215221.00,,,,,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,215222.00,,,,,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,215223.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.32 2.82 11.71 3.83 3.94 0 9693.32 07:22:58 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,215224.00,,,,,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,215225.00,,,,,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 : BluefinBatt Reply: $c0q0 d- 31.43 3.59 12.89 3.90 3.94 0 15674.59 07:23:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215226.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.880000 : 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,215227.00,,,,,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,215228.00,,,,,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,215229.00,,,,,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,215230.00,,,,,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: $aaq0 d- 31.25 3.15 12.30 3.91 3.94 0 24501.63 07:23:05 m : AshtechGps::processRecord() - $GPGGA,215231.00,,,,,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,215232.00,,,,,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,215233.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.28 3.11 11.71 3.83 3.94 0 9693.00 07:23:08 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,215234.00,,,,,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,215235.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.43 3.84 12.98 3.90 3.94 0 15674.32 07:23:10 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215236.00,,,,,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 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.880000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215237.00,,,,,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,215238.00,,,,,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,215239.00,,,,,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,215240.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.29 3.11 12.30 3.91 3.94 0 24501.39 07:23:15 m : AshtechGps::processRecord() - $GPGGA,215241.00,,,,,0,00,,,M,,M,,*49 : 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 : AshtechGps::processRecord() - $GPGGA,215242.00,,,,,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,215243.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.32 2.86 11.71 3.83 3.94 0 9692.80 07:23:18 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,215244.00,,,,,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,215245.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.43 3.84 12.89 3.90 3.94 0 15673.91 07:23:20 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215246.00,,,,,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 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.880000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215247.00,,,,,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,215248.00,,,,,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,215249.00,,,,,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,215250.00,,,,,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: $aaq0 d- 31.29 3.19 12.30 3.91 3.93 0 24501.04 07:23:25 m : AshtechGps::processRecord() - $GPGGA,215251.00,,,,,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,215252.00,,,,,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,215253.00,,,,,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- 31.32 2.93 11.71 3.83 3.94 0 9692.49 07:23:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215254.00,,,,,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,215255.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.43 3.70 12.98 3.90 3.94 0 15673.66 07:23:30 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,215256.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.880000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215257.00,,,,,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,215258.00,,,,,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,215259.00,,,,,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,215300.00,,,,,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: $aaq0 d- 31.25 3.00 12.30 3.91 3.93 0 24500.80 07:23:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215301.00,,,,,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,215302.00,,,,,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,215303.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.32 3.04 11.71 3.83 3.94 0 9692.30 07:23:38 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215304.00,,,,,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,215305.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.43 3.66 12.98 3.90 3.94 0 15673.27 07:23:40 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,215306.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.880000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215307.00,,,,,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,215308.00,,,,,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,215309.00,,,,,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,215310.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.25 3.00 12.30 3.91 3.93 0 24500.44 07:23:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215311.00,,,,,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,215312.00,,,,,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,215313.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.32 3.00 11.71 3.83 3.94 0 9691.99 07:23:48 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215314.00,,,,,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,215315.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.43 3.91 12.89 3.90 3.94 0 15673.00 07:23:50 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,215316.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.880000 : 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,215317.00,,,,,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,215318.00,,,,,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,215319.00,,,,,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,215320.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.501819 under allowable altitude 10.000000. Stopping! : resetting depth trajectory : DepthEnvelope -- Measured altitude 9.501819 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.501819 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.501819 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.25 3.00 12.40 3.91 3.93 0 24500.20 07:23:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215321.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.501819 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.501819 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.501819 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.989925 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.989925 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215322.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.989925 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.989925 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.989925 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.989925 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.989925 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215323.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.989925 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.32 2.71 11.71 3.83 3.94 0 9691.78 07:23:58 m : DepthEnvelope -- Measured altitude 8.574804 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.574804 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.574804 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.574804 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 : AshtechGps::processRecord() - $GPGGA,215324.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.574804 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.574804 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.574804 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.974032 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.974032 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215325.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.974032 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.974032 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- 31.54 1.50 12.89 3.91 3.95 0 15672.69 07:24:00 m : DepthEnvelope -- Measured altitude 7.974032 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.974032 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.974032 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215326.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.094088 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.094088 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.883333 : DepthEnvelope -- Measured altitude 7.094088 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.094088 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.094088 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215327.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.094088 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.094088 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.094088 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.234625 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.234625 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215328.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Waypoint has set the state to finished. : Waypoint (4078770.2, 597613.7), reached at t = 9364.40 (wplog) : Vehicle Position is error is (0.0, 0.7) : LayeredControl::execute() -- (t = 9364.398495) Behavior waypoint_yoyo:1066036 has changed to state Finished : LayeredControl - sending BehaviorFinished:1066036 msg to VcsServer : DepthEnvelope -- Measured altitude 6.234625 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=-1 horz=0.00 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.234625 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.234625 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.234625 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.234625 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215329.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.768318 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.768318 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.768318 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 5.768318 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.768318 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215330.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.768318 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.768318 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.768318 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.396112 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.396112 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=1 speed=0.00 : DynoLayeredControlServer insertBehaves : BluefinBatt Reply: $aaq0 d- 31.41 0.96 12.30 3.92 3.95 0 24500.01 07:24:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215331.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion ascend after pos 2 : DynoLayeredControl::insert - stack now contains 23 behaviors : LayeredControl::execute() -- (t = 9367.648272) Behavior ascend:1947437 has changed to state Active : LayeredControl - ascend BehaviorStarted:1947437 msg to VcsServer : DepthEnvelope -- Measured altitude 5.396112 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.396112 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.396112 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.396112 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215332.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.336721 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.336721 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.336721 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 5.336721 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.336721 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215333.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.336721 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.43 1.12 11.71 3.85 3.96 0 9691.65 07:24:08 m : DepthEnvelope -- Measured altitude 5.336721 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.424641 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.424641 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.424641 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 : AshtechGps::processRecord() - $GPGGA,215334.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.424641 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.424641 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.424641 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.424641 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.424641 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215335.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.640943 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.640943 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- 31.58 1.29 12.89 3.91 3.95 0 15672.58 07:24:10 m : DepthEnvelope -- Measured altitude 5.640943 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.640943 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.640943 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215336.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.640943 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.640943 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.893333 : DepthEnvelope -- Measured altitude 5.886746 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.886746 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 5.886746 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215337.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 5.886746 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.886746 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.886746 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 5.886746 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.186092 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215338.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.186092 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 6.186092 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.186092 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.186092 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.186092 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215339.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.186092 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.186092 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.456874 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 6.456874 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.456874 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215340.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.456874 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.456874 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.456874 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.456874 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.562393 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: $aaq0 d- 31.41 0.92 12.30 3.92 3.95 0 24499.93 07:24:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215341.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.562393 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.562393 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.562393 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.562393 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.562393 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215342.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.562393 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.834440 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 6.834440 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.834440 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.834440 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215343.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.834440 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.43 1.08 11.81 3.85 3.96 0 9691.57 07:24:18 m : DepthEnvelope -- Measured altitude 6.834440 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.834440 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 6.834440 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 7.030805 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215344.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.030805 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.030805 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.030805 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.030805 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.030805 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215345.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.030805 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 7.149164 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.54 1.29 12.98 3.91 3.95 0 15672.44 07:24:20 m : DepthEnvelope -- Measured altitude 7.149164 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.149164 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.149164 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215346.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.149164 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.149164 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.893333 : DepthEnvelope -- Measured altitude 7.149164 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 7.462615 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.462615 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215347.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.462615 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.462615 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.462615 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.462615 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.462615 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 : AshtechGps::processRecord() - $GPGGA,215348.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.462615 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.534148 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.534148 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.534148 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.534148 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215349.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.534148 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.534148 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 7.534148 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.705105 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.705105 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215350.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.705105 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.705105 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.705105 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.705105 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 7.705105 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.33 1.11 12.30 3.92 3.95 0 24499.84 07:24:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215351.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.791248 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.791248 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.791248 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.791248 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.791248 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215352.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.791248 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 7.791248 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.791248 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.795351 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.795351 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215353.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.795351 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $b6q0 d- 31.43 1.12 11.71 3.85 3.96 0 9691.45 07:24:28 m : DepthEnvelope -- Measured altitude 7.795351 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.795351 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 7.795351 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.795351 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215354.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.746460 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.746460 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.746460 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.746460 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.746460 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 : AshtechGps::processRecord() - $GPGGA,215355.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.746460 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.58 1.25 12.98 3.91 3.95 0 15672.35 07:24:30 m : DepthEnvelope -- Measured altitude 7.746460 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.735291 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.735291 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.735291 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215356.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.735291 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.893333 : DepthEnvelope -- Measured altitude 7.735291 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 7.735291 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.735291 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.735291 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215357.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.697413 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.697413 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.697413 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.697413 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 7.697413 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215358.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.697413 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.697413 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.735603 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.735603 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.735603 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215359.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.735603 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 7.735603 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.735603 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.735603 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.745371 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215400.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.745371 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.745371 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.745371 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 7.745371 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.745371 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.37 1.07 12.30 3.92 3.95 0 24499.76 07:24:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215401.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.745371 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.745371 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.946199 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.946199 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.946199 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 : AshtechGps::processRecord() - $GPGGA,215402.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.946199 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.946199 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.946199 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 7.946199 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.064672 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215403.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.43 1.12 11.71 3.85 3.96 0 9691.38 07:24:38 m : DepthEnvelope -- Measured altitude 8.064672 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.064672 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 8.064672 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.064672 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.064672 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215404.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.064672 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.064672 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.029744 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.029744 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 8.029744 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215405.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.029744 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.58 1.25 12.89 3.92 3.95 0 15672.22 07:24:40 m : DepthEnvelope -- Measured altitude 8.029744 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.029744 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.029744 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.373817 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215406.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.373817 under allowable altitude 10.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=-1 horz=0.00 speedMode=1 speed=0.00 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.896667 : DepthEnvelope -- Measured altitude 8.373817 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.373817 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.373817 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.373817 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215407.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.373817 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.548487 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.548487 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 8.548487 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.548487 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215408.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.548487 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.548487 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.548487 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.548487 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.857100 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 : AshtechGps::processRecord() - $GPGGA,215409.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.857100 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.857100 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.857100 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.857100 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 8.857100 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215410.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.857100 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.011766 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 9.011766 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.011766 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.011766 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.41 0.92 12.30 3.92 3.95 0 24499.63 07:24:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215411.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.011766 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.011766 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.011766 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.344290 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 9.344290 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215412.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.344290 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.344290 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.344290 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.344290 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.344290 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215413.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.344290 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: $b6q0 d- 31.47 1.12 11.71 3.85 3.96 0 9691.26 07:24:48 m : DepthEnvelope -- Measured altitude 9.427235 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.427235 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.427235 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.427235 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215414.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.427235 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.427235 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.427235 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 9.696693 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.696693 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215415.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.696693 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.696693 under allowable altitude 10.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.58 1.36 12.89 3.92 3.95 0 15672.13 07:24:50 m : DepthEnvelope -- Measured altitude 9.696693 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.696693 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.696693 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 : AshtechGps::processRecord() - $GPGGA,215416.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.914847 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.914847 under allowable altitude 10.000000. Stopping! : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.896667 : DepthEnvelope -- Measured altitude 9.914847 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.914847 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.914847 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215417.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.914847 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.914847 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 9.914847 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.938250 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.938250 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215418.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.938250 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.938250 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.938250 under allowable altitude 10.000000. Stopping! : DepthEnvelope -- Measured altitude 9.938250 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 9.938250 under allowable altitude 10.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215419.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- altitude 10.006339 over abort altitude 10.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215420.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.41 0.92 12.30 3.92 3.95 0 24499.57 07:24:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215421.00,,,,,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,215422.00,,,,,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,215423.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.39 1.95 11.71 3.85 3.96 0 9691.17 07:24:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215424.00,,,,,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,215425.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 3.41 12.89 3.91 3.94 0 15671.93 07:25:00 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,215426.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.893333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215427.00,,,,,0,00,,,M,,M,,*4F : 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,215428.00,,,,,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,215429.00,,,,,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 : AshtechGps::processRecord() - $GPGGA,215430.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.25 3.56 12.30 3.91 3.94 0 24499.32 07:25:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215431.00,,,,,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,215432.00,,,,,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,215433.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.32 3.07 11.71 3.83 3.95 0 9690.87 07:25:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215434.00,,,,,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,215435.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.43 3.80 12.89 3.91 3.94 0 15671.66 07:25:10 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,215436.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.883333 : 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,215437.00,,,,,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,215438.00,,,,,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 : AshtechGps::processRecord() - $GPGGA,215439.00,,,,,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,215440.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.29 3.19 12.30 3.91 3.94 0 24499.08 07:25:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215441.00,,,,,0,00,,,M,,M,,*4F : 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,215442.00,,,,,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,215443.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.32 2.71 11.71 3.83 3.95 0 9690.66 07:25:18 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,215444.00,,,,,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,215445.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 3.34 12.89 3.90 3.94 0 15671.25 07:25:20 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,215446.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.880000 : 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,215447.00,,,,,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,215448.00,,,,,0,00,,,M,,M,,*46 : 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,215449.00,,,,,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 : AshtechGps::processRecord() - $GPGGA,215450.00,,,,,0,00,,,M,,M,,*4F : 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: $aaq0 d- 31.29 2.82 12.30 3.91 3.94 0 24498.77 07:25:25 m : AshtechGps::processRecord() - $GPGGA,215451.00,,,,,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,215452.00,,,,,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,215453.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.35 2.50 11.81 3.83 3.95 0 9690.38 07:25:28 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,215454.00,,,,,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,215455.00,,,,,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 : BluefinBatt Reply: $c0q0 d- 31.46 3.12 12.89 3.90 3.94 0 15671.00 07:25:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215456.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.880000 : 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,215457.00,,,,,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,215458.00,,,,,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,215459.00,,,,,0,00,,,M,,M,,*46 : 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,215500.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.29 2.85 12.30 3.91 3.94 0 24498.57 07:25:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215501.00,,,,,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,215502.00,,,,,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,215503.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.32 2.50 11.71 3.83 3.95 0 9690.18 07:25:38 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,215504.00,,,,,0,00,,,M,,M,,*4F : 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,215505.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 3.59 12.89 3.90 3.94 0 15670.62 07:25:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215506.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.880000 : 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,215507.00,,,,,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,215508.00,,,,,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,215509.00,,,,,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,215510.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.25 2.89 12.30 3.91 3.94 0 24498.28 07:25:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215511.00,,,,,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,215512.00,,,,,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,215513.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.32 2.60 11.71 3.83 3.95 0 9689.90 07:25:48 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,215514.00,,,,,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,215515.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 3.37 12.89 3.90 3.94 0 15670.34 07:25:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215516.00,,,,,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 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.880000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215517.00,,,,,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,215518.00,,,,,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,215519.00,,,,,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,215520.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.25 2.92 12.40 3.91 3.94 0 24498.06 07:25:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215521.00,,,,,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,215522.00,,,,,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,215523.00,,,,,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 : BluefinBatt Reply: $b6q0 d- 31.32 3.07 11.81 3.83 3.95 0 9689.72 07:25:58 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215524.00,,,,,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,215525.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 3.23 12.89 3.90 3.93 0 15669.96 07:26:00 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,215526.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.880000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215527.00,,,,,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,215528.00,,,,,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 : AshtechGps::processRecord() - $GPGGA,215529.00,,,,,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,215530.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.29 3.04 12.30 3.91 3.94 0 24497.76 07:26:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215531.00,,,,,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,215532.00,,,,,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,215533.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.24 3.44 11.81 3.83 3.95 0 9689.44 07:26:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215534.00,,,,,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,215535.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.43 3.37 12.89 3.90 3.93 0 15669.71 07:26:10 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,215536.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.880000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215537.00,,,,,0,00,,,M,,M,,*4F : 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,215538.00,,,,,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,215539.00,,,,,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 : AshtechGps::processRecord() - $GPGGA,215540.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.22 2.85 12.30 3.91 3.94 0 24497.56 07:26:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215541.00,,,,,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,215542.00,,,,,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,215543.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.32 2.71 11.81 3.83 3.95 0 9689.27 07:26:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215544.00,,,,,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,215545.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.43 3.34 12.89 3.90 3.94 0 15669.32 07:26:20 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,215546.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.880000 : 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,215547.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynoLayeredControlServer insertBehaves : DynoLayeredControlServer rdeleteBehavior(1947437) : DynoLayeredControlServer rdeleteBehavior(1952912) : DynoLayeredControlServer rdeleteBehavior(1952934) : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion getgps after pos 2 : DynoLayeredControl::insert - stack now contains 24 behaviors : DynoLayeredControl::delete - deleteing behavior w/id=1947437 : Found behavior ascend with id 1947437 : Behavior ascend is Active, abandon it : DynoLayeredControl::delete - behavior removed : DynoLayeredControl::delete - deleteing behavior w/id=1952912 : DynoLayeredControl::delete - behavior not found : DynoLayeredControl::delete - deleteing behavior w/id=1952934 : Found behavior getgps with id 1952934 : Behavior getgps is not Active, remove it from the stack : DynoLayeredControl::delete - behavior removed : LayeredControl::execute() -- (t = 9504.168920) Behavior ascend:1947437 has changed to state Finished : LayeredControl - sending BehaviorFinished:1947437 msg to VcsServer : *** Stack empty after processing. Waiting on VCS... : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215548.00,,,,,0,00,,,M,,M,,*47 : 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,215549.00,,,,,0,00,,,M,,M,,*46 : 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,215550.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.29 2.89 12.20 3.91 3.94 0 24497.24 07:26:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215551.00,,,,,0,00,,,M,,M,,*4F : 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,215552.00,,,,,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,215553.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl::callback() - got abort request from server : Initiating Mission Abort! : BluefinBatt Reply: $b6q0 d- 31.32 2.50 11.81 3.83 3.94 0 9689.00 07:26:28 m : LayeredControl::execute() -- (t = 9509.398561) Behavior setpoint:-1 has changed to state Active : LayeredControl - setpoint BehaviorStarted:-1 msg to VcsServer : LayeredControl::execute() -- (t = 9509.408561) Behavior missionTimer:-1 has changed to state Active : LayeredControl - missionTimer BehaviorStarted:-1 msg to VcsServer : 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,215554.00,,,,,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,215555.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 31.43 3.70 12.89 3.90 3.94 0 15669.08 07:26:30 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215556.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.880000 : 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,215557.00,,,,,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,215558.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215559.00,,,,,0,00,,,M,,M,,*47 : 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,215600.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.41 1.14 12.20 3.91 3.94 0 24497.11 07:26:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215601.00,,,,,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,215602.00,,,,,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,215603.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.43 1.12 11.81 3.83 3.94 0 9688.89 07:26:38 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,215604.00,,,,,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,215605.00,,,,,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 : BluefinBatt Reply: $c0q0 d- 31.54 1.25 12.89 3.91 3.95 0 15668.91 07:26:40 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215606.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.883333 : 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,215607.00,,,,,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,215608.00,,,,,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,215609.00,,,,,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 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215610.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 31.37 0.96 12.20 3.92 3.95 0 24497.00 07:26:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215611.00,,,,,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,215612.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215613.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.43 1.05 11.81 3.85 3.96 0 9688.77 07:26:48 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,215614.00,,,,,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 : AshtechGps::processRecord() - $GPGGA,215615.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 1.32 12.79 3.91 3.95 0 15668.80 07:26:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215616.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.893333 : 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,215617.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215618.00,,,,,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,215619.00,,,,,0,00,,,M,,M,,*40 : 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,215620.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.29 1.22 12.20 3.92 3.95 0 24496.94 07:26:55 m : AshtechGps::processRecord() - $GPGGA,215621.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215622.00,,,,,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,215623.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 31.43 1.05 11.81 3.85 3.96 0 9688.68 07:26:58 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,215624.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215625.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 1.25 12.79 3.91 3.95 0 15668.66 07:27:00 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215626.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.893333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215627.00,,,,,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 : AshtechGps::processRecord() - $GPGGA,215628.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215629.00,,,,,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,215630.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.37 1.63 12.20 3.92 3.95 0 24496.83 07:27:05 m : AshtechGps::processRecord() - $GPGGA,215631.00,,,,,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,215632.00,,,,,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,215633.00,,,,,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 : BluefinBatt Reply: $b6q0 d- 31.43 1.01 11.71 3.85 3.96 0 9688.56 07:27:08 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215634.00,,,,,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,215635.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.54 1.29 12.89 3.91 3.95 0 15668.58 07:27:10 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,215636.00,,,,,0,01,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.893333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215637.00,,,,,0,01,,,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 : AshtechGps::processRecord() - $GPGGA,215638.00,,,,,0,01,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215639.00,,,,,0,01,,,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,215640.00,,,,,0,01,,,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 : BluefinBatt Reply: $aaq0 d- 31.37 1.03 12.10 3.92 3.95 0 24496.75 07:27:15 m : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215641.00,,,,,0,01,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215642.00,3651.00009,N,12154.33766,W,1,04,1.8,-4.68,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,215643.00,3651.00043,N,12154.33728,W,1,04,1.8,-4.23,M,-32.59,M,,*74 : BluefinBatt Reply: $b6q0 d- 31.43 1.12 11.71 3.85 3.96 0 9688.48 07:27:18 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215644.00,3651.00035,N,12154.33713,W,1,04,1.8,-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 : AshtechGps::processRecord() - $GPGGA,215645.00,3651.00046,N,12154.33715,W,1,04,1.8,-4.72,M,-32.59,M,,*7D : BluefinBatt Reply: $c0q0 d- 31.58 1.32 12.79 3.91 3.95 0 15668.44 07:27:20 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,215646.00,3651.00049,N,12154.33702,W,1,04,1.8,-4.45,M,-32.59,M,,*73 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.893333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215647.00,3651.00053,N,12154.33691,W,1,04,1.8,-4.26,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,215648.00,3651.00076,N,12154.33655,W,1,04,1.8,-4.28,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,215649.00,3651.00088,N,12154.33654,W,1,04,1.8,-4.50,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,215650.00,3651.00097,N,12154.33629,W,1,04,1.8,-4.54,M,-32.59,M,,*7F : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $aaq0 d- 31.41 0.92 12.10 3.92 3.95 0 24496.65 07:27:25 m : AshtechGps::processRecord() - $GPGGA,215651.00,3651.00083,N,12154.33606,W,1,04,1.8,-4.87,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,215652.00,3651.00066,N,12154.33598,W,1,04,1.8,-5.25,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,215653.00,3651.00069,N,12154.33624,W,1,04,1.8,-5.71,M,-32.59,M,,*76 : BluefinBatt Reply: $b6q0 d- 31.43 1.08 11.71 3.85 3.96 0 9688.36 07:27:28 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215654.00,3651.00067,N,12154.33650,W,1,04,1.8,-4.98,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,215655.00,3651.00071,N,12154.33624,W,1,04,1.8,-4.45,M,-32.59,M,,*7F : BluefinBatt Reply: $c0q0 d- 31.58 1.18 12.79 3.91 3.95 0 15668.34 07:27:30 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,215656.00,3651.00076,N,12154.33580,W,1,04,1.8,-4.30,M,-32.59,M,,*74 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.893333 : 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,215657.00,3651.00072,N,12154.33534,W,1,04,1.8,-4.71,M,-32.59,M,,*7B : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215658.00,3651.00037,N,12154.33465,W,1,04,1.8,-3.54,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 : AshtechGps::processRecord() - $GPGGA,215659.00,3651.00103,N,12154.33522,W,1,04,1.8,-5.25,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,215700.00,3651.00114,N,12154.33523,W,1,04,1.8,-5.37,M,-32.59,M,,*7C : BluefinBatt Reply: $aaq0 d- 31.33 1.11 12.20 3.92 3.95 0 24496.57 07:27:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215701.00,3651.00106,N,12154.33507,W,1,04,1.8,-5.11,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,215702.00,3651.00101,N,12154.33453,W,1,04,1.8,-4.53,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 : AshtechGps::processRecord() - $GPGGA,215703.00,3651.00101,N,12154.33405,W,1,04,1.8,-5.11,M,-32.59,M,,*7A : BluefinBatt Reply: $b6q0 d- 31.47 1.19 11.71 3.85 3.96 0 9688.28 07:27:38 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,215704.00,3651.00099,N,12154.33419,W,1,04,1.8,-6.02,M,-32.59,M,,*71 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215705.00,3651.00124,N,12154.33430,W,1,04,1.8,-6.03,M,-32.59,M,,*7D : BluefinBatt Reply: $c0q0 d- 31.58 1.25 12.89 3.91 3.95 0 15668.20 07:27:40 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,215706.00,3651.00100,N,12154.33465,W,1,04,1.8,-5.39,M,-32.59,M,,*72 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.893333 : 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,215707.00,3651.00104,N,12154.33404,W,1,04,1.8,-4.06,M,-32.59,M,,*7D : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215708.00,3651.00112,N,12154.33329,W,1,04,1.8,-3.57,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,215709.00,3651.00144,N,12154.33295,W,1,04,1.8,-5.19,M,-32.59,M,,*76 : 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,215710.00,3651.00171,N,12154.33292,W,1,04,1.8,-5.94,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 : BluefinBatt Reply: $aaq0 d- 31.37 1.51 12.10 3.92 3.95 0 24496.47 07:27:45 m : AshtechGps::processRecord() - $GPGGA,215711.00,,,,,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,215712.00,,,,,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,215713.00,3651.00110,N,12154.33072,W,1,04,1.8,-7.79,M,-32.59,M,,*73 : BluefinBatt Reply: $b6q0 d- 31.47 1.05 11.62 3.85 3.96 0 9688.16 07:27:48 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,215714.00,3651.00156,N,12154.33144,W,1,04,1.8,-7.64,M,-32.59,M,,*7E : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215715.00,3651.00157,N,12154.33126,W,1,04,1.8,-6.92,M,-32.59,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 31.58 1.25 12.79 3.91 3.95 0 15668.11 07:27:50 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,215716.00,3651.00166,N,12154.33115,W,1,04,1.8,-6.72,M,-32.59,M,,*7D : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.893333 : 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,215717.00,3651.00146,N,12154.33147,W,1,04,1.8,-4.87,M,-32.59,M,,*71 : 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. : **** SharedData destructor for object navigationOutput **** //9/home/dorado1/auv_autonomy/auv/altex/onboard/bin/statePublisher terminated (SIGSEGV) at 0007:00015F37. : Supervisor::shutdown() - done() : TaskServer::signalHandler() for task EventLogIFServer - exit() on signal 2 : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task 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 : **** SharedData destructor for object BluefinBattOutput **** : Isus:stopping Isus... : Lisst:stopping Lisst... : TaskServer::signalHandler() for task FanIFServer - exit() on signal 2 : Fan Destructor Executing. : TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 2 : TaskServer::signalHandler() for task ClusterIFServer - exit() on signal 2 : GulperDestructor Executing. : DropWeight Destructor Executing. : 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 **** : **** SharedData destructor for object m3dmgx1Cmd **** : TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 18 : **** SharedData destructor for object m3dmgx1 **** : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object DvlOutput_ShmemName **** : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object GulperOutput **** : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 18 : **** SharedData destructor for object LayeredControlInput_ShmemName **** : **** SharedData destructor for object fanOutput **** : **** SharedData destructor for object GulperOutput **** : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object ctdDriverSeabirdOutput_ShmemName **** : **** SharedData destructor for object ctdDriver2SeabirdOutput_ShmemName **** : **** SharedData destructor for object IsusOutput_ShmemName **** : TaskServer::signalHandler() for task GpsIFServer - exit() on signal 18 : **** SharedData destructor for object fanOutput **** : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object m3dmgx1 **** : **** SharedData destructor for object cluster.plume **** : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object m3dmgx1Cmd **** : TaskServer::signalHandler() for task ctdDriver - exit() on signal 18 : TaskServer::signalHandler() for task ctdDriver2 - exit() on signal 18 : **** SharedData destructor for object TailConeOutput_ShmemName **** : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : TaskServer::signalHandler() for task FanIFServer - exit() on signal 18 : TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 18 : Cluster - destroying the main class. : **** SharedData destructor for object TailConeInput_ShmemName **** : TaskServer::signalHandler() for task HydroscatIFServer - exit() on signal 2 : **** SharedData destructor for object TailConeOutput_ShmemName **** : **** 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. : Isus:stopped - response 05/12/2008 21:57:12,14.69,14.92,0.000905 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 //9/home/dorado1/auv_autonomy/auv/altex/onboard/bin/lisst terminated (SIGSEGV) at 0007:0001BE8D. : 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(): 0.52% // Fiberlite Odometer , 202:46:38 // 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.